MLAxisStatus

Pipe Network motion icon

Function - Returns the status of the axis.

This includes information on the:

Enabled/disabled state.
Bus connection.
Pipe Network connection.
Drive executing an axis stop function.
Other status information.

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

FALSE, TRUE

N/A

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. See CANopen Status Machine.
2	Enabled (1 if enabled). Is linked to Bit 0 (Ready to switch on) of the Status Word. See CANopen Status Word.
3	Found (1 if found on the network). EtherCAT 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

Remarks

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

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;