MC_ReadStatus

PLCopen motion icon

Function Block - Returns the state of the specified axis.

See Function Blocks - General Rules about how inputs and outputs work.

- This function or function block returns cached data.
- See Program a Multi-Core Controller.

Inputs

Input	Data Type See Data Types.	Range	Unit	Default	Description
Enable	BOOL	FALSE, TRUE	N/A	No default	Request to read and return the axis status.
Axis	AXIS_REF	1 to 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number. See AXIS_REF Structure.

Input

Data Type

See Data Types.

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Request to read and return the axis status.

Axis

AXIS_REF

1 to 256

N/A

No default

Name of a declared instance of the AXIS_REF library function.

See Axis Name and Number.
See AXIS_REF Structure.

Outputs

Output	Data Type See Data Types.	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	Indicates the outputs are valid.
Busy	BOOL	FALSE, TRUE	N/A	Indicates this function block is executing.
Error	BOOL	FALSE, TRUE	N/A	Indicates an invalid input was specified.
ErrorID	INT	-32768 to +32767		Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.
ErrorStop	BOOL	FALSE, TRUE	N/A	Indicates Error Stop state. Either E-stop or C-stop.
Disabled	BOOL	FALSE, TRUE	N/A	Indicates Disabled state. Open loop and drive is disabled.
Stopping	BOOL	FALSE, TRUE	N/A	Indicates Stopping state. MC_Stop command.
StandStill	BOOL	FALSE, TRUE	N/A	Indicates Stand Still state. No move, closed loop, drive enabled.
DiscreteMotion	BOOL	FALSE, TRUE	N/A	Indicates Discrete Motion state. Pprogrammed endpoint move is active.
ContinuousMotion	BOOL	FALSE, TRUE	N/A	Indicates Continuous Motion state. Unending, single-axis move is active.
SynchronizedMotion	BOOL	FALSE, TRUE	N/A	Indicates Synchronized Motion state Slave move is active.
Homing	BOOL	FALSE, TRUE	N/A	Indicates Homing state. A homing cycle is currently executing.
ConstantVelocity	BOOL	FALSE, TRUE	N/A	Indicates the axis is moving at a constant velocity.
Accelerating	BOOL	FALSE, TRUE	N/A	Indicates the axis is accelerating.
Decelerating	BOOL	FALSE, TRUE	N/A	Indicates the axis is decelerating.

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_ReadStatus ST example *)
            
Inst_MC_ReadStatus( EnableRead, Axis1 );
//Inst_MC_ReadStatus is an instance of MC_ReadStatus function block
AxisStopping := Inst_MC_ReadStatus.Stopping; // store Stopping output to a user defined variable
AxisAccelerating := Inst_MC_ReadStatus.Accelerating; // store Accelerating output to a user defined variable