MC_ReadAxisErr

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 Function Block - Returns the error status of the specified axis.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Request to read the error status of the axis.

Axis

AXIS_REF

1 to 256

N/A

No default

Name of a declared instance of the AXIS_REF library function.

Outputs

Output

Data Type

Range

Unit

Description

Valid

BOOL

FALSE, TRUE

N/A

Indicates the AxisErrorID output is valid.

Busy

BOOL

FALSE, TRUE

N/A

Indicates this function block is executing.

Error

BOOL

FALSE, TRUE

N/A

Indicates an invalid input was specified.

ErrorID

INT

-32768 to +32767

 

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

AxisErrorID

INT

-32768 to +32767

 

Indicates the error status of the axis.

  • Each bit indicates a specific error.
  • Both emergency-stop (E-stop) and controlled-stop (C-stop) errors are indicated.
  • The Output Bits table defines the bits of this output.

Remarks

See Function Blocks - General Rules about how inputs and outputs work.

Output Bits

Hexadecimal

Decimal

Description

0000H

0

No Error

0001H

1

User-set E-stop via MC_EStop, E-stop

0002H

2

Loss of Feedback, E-stop

0004H

4

Drive Fault, E-stop

0008H

8

Drive Communication Failure, E-stop

0400H

1024

Synchronization Error, C-stop

0700H

7192

Drive Overtravel Limit Exceeded, Cstop.

See Overtravel Conditions.


  • Multiple errors can be active at the same time.
    Example: If a User-set E-stop and an Excess Position Error E-stop are both active, the value is 00000011H (17 decimal).

Figure 1: MC_ReadAxisErr

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_ReadAxisErr ST example *)
            
Inst_MC_ReadAxisErr( TRUE, Axis1 );
//Inst_MC_ReadAxisErr is an instance of MC_ReadAxisErr function block
AxisErrorBits := Inst_MC_ReadAxisErr.AxisErrorID; //AxisErrorID contains the error bits