Data type ST_AxisStatus

The data type ST_AxisStatus contains comprehensive status information for an axis. The data structure must be updated during each PLC cycle by calling MC_ReadStatus or by calling the action Axis.ReadStatus (AXIS_REF).

TYPE ST_AxisStatus :
STRUCT
    UpdateTaskIndex         : BYTE;     (* Task-Index of the task that updated this data set *)
    UpdateCycleTime         : LREAL;    (* task cycle time of the task which calls the status function *)
    CycleCounter          : UDINT;    (* PLC cycle counter when this data set updated *)
    NcCycleCounter        : UDINT;    (* NC cycle counter incremented after NC task updated NcToPlc data structures *)

    MotionState           : MC_AxisStates; (* motion state in the PLCopen state diagram *)

    Error                 : BOOL;  (* axis error state *)
    ErrorId               : UDINT; (* axis error code *)

    (* PLCopen motion control statemachine states: *)
    ErrorStop             : BOOL;
    Disabled              : BOOL;
    Stopping              : BOOL;
    StandStill            : BOOL;
    DiscreteMotion        : BOOL;
    ContinuousMotion      : BOOL; 
    SynchronizedMotion    : BOOL;
    Homing                : BOOL;

    (* additional status - (PLCopen definition)*)
    ConstantVelocity      : BOOL; 
    Accelerating          : BOOL;
    Decelerating          : BOOL;

    (* Axis.NcToPlc.StateDWord *)
    Operational           : BOOL; 
    ControlLoopClosed     : BOOL; (* operational and position control active *)
    HasJob                : BOOL; 
    HasBeenStopped        : BOOL; 
    NewTargetPosition     : BOOL; (* new target position commanded during move *)
    InPositionArea        : BOOL; 
    InTargetPosition      : BOOL; 
    Protected             : BOOL; 
    Homed                 : BOOL; 
    HomingBusy            : BOOL; 
    MotionCommandsLocked  : BOOL; (* stop 'n hold *)
    SoftLimitMinExceeded  : BOOL; (* reverse soft travel limit exceeded *)
    SoftLimitMaxExceeded  : BOOL; (* forward soft travel limit exceeded *)

    Moving                : BOOL; 
    PositiveDirection     : BOOL; 
    NegativeDirection     : BOOL; 
    NotMoving             : BOOL; 
    Compensating          : BOOL; (* superposition - overlayed motion *)

    ExtSetPointGenEnabled : BOOL; 
    ExternalLatchValid    : BOOL; 
    CamDataQueued         : BOOL; 
    CamTableQueued        : BOOL; 
    CamScalingPending     : BOOL; 
    CmdBuffered           : BOOL; 
    PTPmode               : BOOL; 
    DriveDeviceError      : BOOL; 
    IoDataInvalid         : BOOL; 

    (* Axis.NcToPlc.CoupleState *)
    Coupled               : BOOL;

    (* axis operation mode feedback from NcToPlc *)
    OpMode                : ST_AxisOpModes;
END_STRUCT
END_TYPE 

 

ST_AxisOpModes MC_AxisStates