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	1 to 1024	N/A	No default	ID of the Axis block.

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	FALSE, TRUE	N/A	Returns TRUE when the function successfully executes.
Default (.Q)	DINT	No range	N/A	Returns the status of the axis. See Bit Descriptions.

Remarks

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

Bit Descriptions

Click to see Bit Descriptions

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 CANopenStatus Word. See CANopenStatus Machine.
2	Enabled (1 if enabled). Is linked to Bit 0 (Ready to switch on) of the Status Word. See CANopenStatus 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	Axis is turning and has not reached target location.
13	Drive Internal limit active rising edge. This bit is only set on the rising edge of bit #11 in the CANopen Status Word. It remains set for only one motion cycle. The drive internal limit state changes are monitored only when the axis parameter MC_AXIS_PARAM_IGNORE_DRIVE_LIM_STATUS is set to FALSE. See Overtravel Conditions. See CANopenStatus Word. See Parameter ID 1038 in Boolean Parameters.
14	Drive Control Override. This bit is equivalent to bit #11 in the CANopen Status Word. The drive internal limit state changes are monitored only when the axis parameter MC_AXIS_PARAM_IGNORE_DRIVE_LIM_STATUS is set to FALSE. See Overtravel Conditions.
15 to 31	Reserved.

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;