NCTOPLC_AXIS_REF_STATE
The structure NCTOPLC_AXIS_REF_STATE is part of the structure NCTOPLC_AXIS_REF.
TYPE NCTOPLC_AXIS_REF_STATE :
DWORD;
END_TYPE
The individual items of information are provided in the status structure of the AXIS_REF at the following points:
Bit | Variable name | Description |
|---|---|---|
0 | Status.Operational | Axis is ready for operation |
1 | Status.Homed | Axis is referenced ("axis calibrated") |
2 | Status.NotMoving | Axis is logically stationary ("Axis not moving") |
3 | Status.InPositionArea | Axis is in position window (physical feedback) |
4 | Status.InTargetPosition | Axis is at target position (PEH) (physical feedback) |
5 | Status.Protected | Axis in protected operation mode (e.g. slave axis) |
6 | Status.ErrorPropagationDelayed | Axis signals a preliminary error warning (from TC 2.11) |
7 | Status.HasBeenStopped | Axis has been stopped or is presently executing a stop |
8 | Status.HasJob | Axis has job, is executing job |
9 | Status.PositiveDirection | Axis moving to logically larger values |
10 | Status.NegativeDirection | Axis moving to logically smaller values |
11 | Status.HomingBusy | Axis is referencing ("axis is being calibrated") |
12 | Status.ConstantVelocity | Axis has reached its constant velocity or rotary speed |
13 | Status.Compensating | Section compensation passive[0]/active[1] (see MC_MoveSuperImposed) |
14 | Status.ExtSetPointGenEnabled | Enable external setpoint generation |
15 |
| Operation mode not yet executed (Busy). Not yet released! |
16 | Status.ExternalLatchValid | External latch value or measuring probe has become valid |
17 | Status.NewTargetPos | Axis has received a new end position or a new velocity |
18 |
| Axis not in target position or cannot/will not reach it (e.g. axis stop). Not yet released! |
19 | Status.ContinuousMotion | Axis executing endless positioning task |
20 | Status.ControlLoopClosed | Axis ready to operate and axis control loop closed (e.g. position control) |
21 | Status.CamTableQueued | New table ready for "Online Change" and waiting for activation |
22 | Status.CamDataQueued | Table data (MF) ready for "Online Change" and waiting for activation |
23 | CamScalingPending | Table scalings ready for "Online Change" and waiting for activation |
24 | Status.CmdBuffered | Follow-up command is available in the command buffer (see BufferMode) (from TwinCAT V2.10 Build 1311) |
25 | Status.PTPmode | Axis in PTP operating mode (no slave, no NCI axis, no FIFO axis) (from TC 2.10 Build 1326) |
26 | Status.SoftLimitMinExceeded | Software minimum end position is active/occupied (from TC 2.10 Build 1327) |
27 | Status.SoftLimitMaxExceeded | Software maximum end position is active/occupied (from TC 2.10 Build 1327) |
28 | Status.DriveDeviceError | Drive hardware has an error (no warning); interpretation possible only if drive is in I/O data exchange. e.g. EtherCAT "OP" state (from TC 2.10 Build 1326) |
29 | Status.MotionCommandsLocked | Axis is blocked for motion commands (TcMc2) |
30 | Status.IoDataInvalid | IO data invalid (e.g. "WcState" or "CdlState" of the fieldbus) |
31 | Error | Axis is in an error state |
Requirements
Development environment | Target system type | PLC libraries to include |
|---|---|---|
TwinCAT v3.0.0 | PC or CX (x86 or x64) | Tc2_MC2 |