MC_ReadStatus

Description

The function block MC_ReadStatus returns the state of the specified axis.

Figure 7-135: MC_ReadStatus

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Enable	Description	Requests to read and return the axis status
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Axis	Description	Name of a declared instance of the AXIS_REF library function. For more details,About Axis Name and Number
	Data type	AXIS_REF
	Range	[1,256]
	Unit	N/A
	Default	—

Output

Valid	Description	Indicates the outputs are valid
	Data type	BOOL
Busy	Description	Indicates this function block is executing
	Data type	BOOL
Error	Description	Indicates an invalid input
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE See table in PLCopen Function Block ErrorID Output
	Data type	INT
ErrorStop	Description	Indicates Error Stop state – E-stop or C-stop
	Data type	BOOL
Disabled	Description	Indicates  Disabled state – open loopA positioning technique, typically utilizing stepper motors, in which the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. and drive is disabled
	Data type	BOOL
Stopping	Description	Indicates Stopping state – MC_Stop  command
	Data type	BOOL
StandStill	Description	Indicates Stand Still state – no move, closed loopThe use of feedback devices (encoders, resolvers, interferometers, etc.) to allow a motor to position a user payload accurately., drive enabled
	Data type	BOOL
DiscreteMotion	Description	Indicates Discrete Motion state – programmed endpoint move is active
	Data type	BOOL
ContinuousMotion	Description	Indicates Continuous Motion state – unending, single-axis move is active
	Data type	BOOL
SynchronizedMotion	Description	Indicates Synchronized Motion state – slave move is active
	Data type	BOOL
HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position	Description	Indicates Homing state – a homing cycle is currently executing
	Data type	BOOL
ConstantVelocity	Description	Indicates the axis is moving at a constant velocity
	Data type	BOOL
Accelerating	Description	Indicates the axis is accelerating
	Data type	BOOL
Decelerating	Description	Indicates the axis is decelerating
	Data type	BOOL

Example

Structured Text

            (* 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

Ladder Diagram

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