MLAxisStatus

Pipe Network motion icon

Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Returns the status of the axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
ID	DINT	No range	N/A	No default	ID Name of the Axis block.

Outputs

Output

Data Type

Range

Unit

Description

BOOL

Returns TRUE when the function successfully executes.

Default (.Q)

DINT

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. See CANopen Status Word for more information. See CANopen Status Machine for more information.
2	Enabled (1 if enabled). Is linked to Bit 0 (Ready to switch on) of the Status Word. See CANopen Status Word for more information.
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 for more information.
4	Configured (1 if configured) EtherCAT state is Safe-Operational. See EtherCAT State Machine for more information.
5	Running (1 if running) EtherCAT state is Operational. See EtherCAT State Machine for more information.
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

Remarks

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

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

 
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;