MLAxisStatus

Description

Returns the status of the axis.

• 
  

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

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 Bit Description 0 Initialized (1 if initialized) 1 Power (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" 2 Enabled (1 if enabled) Is linked to bit 0 (Ready to switch on) of the Status Word 3 Found (1 if found on the network). EtherCAT ***EtherCAT 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 EtherCAT State Machine. 4 Configured (1 if configured) EtherCAT state is Safe-Operational, see EtherCAT State Machine. 5 Running (1 if running) EtherCAT state is Operational, see EtherCAT State Machine. 6 Error (1 if in error) 7 Simulated (1 if working with a simulated axis) 8 Connected (1 if a pipe is connected) 9 Warning (1 if the drive signals a warning) 10 Stopping (1 if the drive is performing a Stop) 11 Stopped (1 if the drive has finished the Stop) 12 to 31 Reserved
	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

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