Status information of an axis

AxisState (PCS)
Description	AxisState, PCS
Information flow	CNC -> PLC
ST path	pMC[channel_idx]^.addr^.StateBahn_Data.HLIBahnCoordDispData_Coord[axis_idx].W_State
Data type	UINT
Value range	1 = Ready, 3 = Active, 5 = Hold
Access	PLC reads
Characteristics

AxisState (ACS)
Description	AxisState, ACS
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.W_AxisState
Data type	UINT
Value range	1 = Ready, 3 = Active, 5 = Hold, 7 = Error
Access	PLC reads
Characteristics	Even if an axis in the PCS is not being moved, a corresponding Cartesian or kinematic transformation may nevertheless perform a movement of the physical axis. Example: 90° rotation about Z; Y is moved if X is programmed.

Residual path (PCS)
Description	Remaining residual path in the current NC block, difference between target position and position setpoint.
Information flow	CNC -> PLC
Unit	0.1 µm
ST path	pMC[channel_idx]^.addr^.StateBahn_Data.HLIBahnCoordDispData_Coord[axis_idx].D_DistToGo
Data type	DINT
Access	PLC reads
Characteristics

Homing performed (PCS)
Description	The axis has completed homing successfully and is thus referenced.
Information flow	CNC -> PLC
ST path	pMC[channel_idx]^.addr^.StateBahn_Data.HLIBahnCoordDispData_Coord[axis_idx].X_HomingDone
Data type	BOOL
Value range	[TRUE = Axis is referenced, FALSE]
Access	PLC reads
Characteristics

Homing performed (ACS)
Description	The axis has completed homing successfully and is thus referenced.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_HomingDone
Data type	BOOL
Value range	[TRUE = Axis is referenced, FALSE]
Access	PLC reads
Characteristics

Contouring error
Description	Current contouring error of the axis, difference between position setpoint and actual position.
Information flow	CNC -> PLC
Unit	0.1 µm
ST path	pAC[axis_idx]^.addr^.StateLR_Data.D_FollowingError
Data type	DINT
Access	PLC reads
Characteristics

Axis in control window
Description	The axis is in the control window
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_InWindow
Data type	BOOL
Value range	[TRUE = Axis is in control window, FALSE]
Access	PLC reads
Characteristics

Axis in position
Description	The axis is in position
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_InPosition
Data type	BOOL
Value range	[TRUE = Axis in position, FALSE]
Access	PLC reads
Characteristics

Axis is moved
Description	The axis is co-used currently for the programmed path movement.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_IsMoved
Data type	BOOL
Value range	[TRUE = Axis is moved, FALSE]
Access	PLC reads
Characteristics

Axis is traversed
Description	The axis traverses, i.e. a value setpoint is generated for this axis with the current interpolation.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_IsMoving
Data type	BOOL
Value range	[TRUE = Axis is traversed, FALSE]
Access	PLC reads
Characteristics	If an axis is traversed, e.g. with a very low feed rate in the NC program, the axis is, admittedly, considered as moved for the complete traverse movement but it may be the case, owing to quantization, that it does not receive a new position setpoint in each cycle. This means that indication Axis is traversed is not pending in each cycle. Likewise, the axis is considered as traversed in the case of Override 0 (traversing with speed 0). By contrast, no speed is commanded in the case of a FEED HOLD, i.e. the axis is considered as not traversed.

Axis traverses forwards
Description	The last output value setpoint generated led to a positive traverse direction.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.X_IsMovingForward
Data type	BOOL
Value range	[TRUE = Axis traverses forwards, FALSE]
Access	PLC reads
Characteristics	It is not possible to detect if the axis is moving but only the last/actual movement direction. To determine if the axis is movin use gpAx[axis_idx]^.lr_state.is_moving_r.

Block number
Description	Current block number of the active NC block
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.D_BlockNr
Data type	DINT
Access	PLC reads
Characteristics

Axis supply
Description	The instruction of the physical axis is executed via the defined logical axis in the NC-channel.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateLR_Data.W_LinkToLogicalAxis
Data type	UINT
Value range	[= 0 - not linked, > 0 - logic number of the axis]
Access	PLC is reading
Characteristics

Axis assignment
Description	Display of the physical axis, on which the command value output of the logical axis of the channel is executed.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateIPO_Data.X_LinkToPhysicalAxis
Data type	UINT
Value range	[= 0 - not linked, > 0 - logic number of the axis]
Access	PLC is reading
Characteristics

Active axis links
Description	It is indicated if the axis is slave axis of an axis link, see also [Programming- #AXIS LINK].
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateIPO_Data. W_AxLinkMode
Data type	INT
Value range	Value	PLC-Constant	Meaning
	-1	HLI_AXIS_LINK_NONE	No axis link active for this axis
	0	HLI_AXIS_LINK_NORMAL	Axis is slave axis of an axis link
	1	HLI_AXIS_LINK_SPDL	Axis is slave axis of a spindle link
	2	HLI_AXIS_LINK_GANTRY	Axis is slave axis of a softgantry link
	3	HLI_AXIS_LINK_MIRROR	Axis is slave axis of an axis link, axis movement is mirrored in respect to the master axis.
Access	PLC is reading
Characteristics	The displayed axis couplings are only active if the master axis number is not zero.

Master axis number for active axis link
Description	If the axis is linked to a master axis (see also [Programming- #AXIS LINK]) the logical axis number of the master axis is shown here.
Information flow	CNC -> PLC
ST path	pAC[axis_idx]^.addr^.StateIPO_Data.W_AxLinkMasterAxNr
Data type	UINT
Value range	0 : no axis link active > 0: logical axis number of the master axis
Access	PLC is reading
Characteristics

Further Information

Linking to ADS