MC_ReadMotionState

This FB returns in detail the status of the axis with respect to the motion currently in process. It is assigned to the group of administrative FBs.

Block diagram

Parameters of the FB

VAR_IN_OUT
	Axis	AXIS_REF	Axis reference
VAR_INPUT
	Enable	BOOL	Get the values of the parameters continuously while enabled.
VAR_OUTPUT
	Valid	BOOL	True if ‘Valid’ outputs available.
	Error	BOOL	Indicates if an error has occurred.
	ErrorID	WORD	Error identification.
	ConstantVelocity	BOOL	The drive has achieved rotational speed.
	RevZero	BOOL	Drive stationary, rotational speed = 0.
	InWindow	BOOL	Axis is within the control window concerning target position
	InPosition	BOOL	The axis is in position.
	IsMoving	BOOL	The axis is moving.
	LrCommandedPos	LREAL	Target position of the axis. Default unit [0,1 µm]
	LrActualPos	LREAL	Actual position of the axis. Default unit [0,1 µm]
	LrSetPos	LREAL	Set position of the axis. Default unit [0,1 µm]
	LrCommandedRev	LREAL	Target rotational speed of the axis. Default unit [10^-3 °/ s]
	LrActualRev	LREAL	Actual rotational speed of the axis. Default unit [10^-3 °/s]
	LrSetRev	LREAL	Set rotational speed. Default unit [10^-3 °/s]
	LrActualAccel	LREAL	Actual acceleration of a spindle. Default unit [1°/s²]
	LrSetAccel	LREAL	Set acceleration of a spindle. Default unit [1°/s²]
	IpoCommandedPos	LREAL	Target position of a spindle. Default unit [10^-4 °]
	IpoSetPos	LREAL	Set position of a spindle. Default unit [10^-4 °]
	IpoDistToGo	LREAL	Remaining distance to be moved by the axis. Default unit [10^-4 °]
	IpoSetVel	LREAL	Set velocity of a spindle. Default unit [10^-3°/s]
	IpoSetAccel	LREAL	Set acceleration of a spindle. Default unit [1°/s²]

Behavior of the FB