FunctionMLAxisStatusPipe Network motion icon

Description

Returns the status of the axis.

Arguments

Input

ID

Description

ID Name of the Axis block.

 

Data type

DINT

 

Range

 

Unit

N/A

 

Default

Output

OK Description Returns true when function successfully executes.

See more details here.

  Data type BOOL
  Unit N/A
Default (.Q) Description Returns the status of the axis
BitDescription
0Initialized (1 if initialized)
1Power (1 if power is on)
Is linked to bit 1 (Switched on) of the Status Word
For more information on the status machine see "CANopen Status Machine"
2Enabled (1 if enabled)
Is linked to bit 0 (Ready to switch on) of the Status Word
3Found (1 if found on the network). EtherCATClosedEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs state is Pre-Operational, see State Machine.
4Configured (1 if configured) EtherCAT state is Safe-Operational, see State Machine.
5Running (1 if running) EtherCAT state is Operational, see State Machine.
6Error (1 if in error)
7Simulated (1 if working with a simulated axis)
8Connected (1 if a pipe is connected)
9Warning (1 if the drive signals a warning)
10Stopping (1 if the drive is performing a Stop)
11Stopped (1 if the drive has finished the Stop)
12 to 31Reserved
  Data type DINT
  Unit N/A

Example

Structured Text

 

AxisStatus := MLAxisStatus(PipeNetwork.AXI_A1_Axis) ;

IF AxisStatus.11 THEN

MLAxisStop(PipeNetwork.AXI_A1_Axis,FALSE,DEF_A1_StopDec) ;

END_IF;

 

AxisStatus := MLAxisStatus(PipeNetwork.AXIS1);
If AxisStatus.0 Then
(*Axis is initialized*)
ElsIf AxisStatus.1 Then
(*Axis' power is ON*)
ElsIf AxisStatus.2 Then
(*Axis is READY to be enabled*)
End_If;

Ladder Diagram

Function Block Diagram

MLAxisStatus: FBD example

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