E_KinStatus

This enumeration defines the state of the kinematic group.

TYPE E_KinStatus :
(
    KinStatus_Error,            
    KinStatus_Empty,            
    KinStatus_Unknown,     
    KinStatus_StartPending, 
    KinStatus_Ready,         
    KinStatus_InvalidItfVersion := 16#4000
);
END_TYPE
E_KinStatus 1:

Name

Description

KinStatus_Empty

ACS axes can be moved. No transformation enabled.

KinStatus_Ready

MCS axes can be moved. Transformation active.

KinStatus_InvalidItfVersion

A function or function block is not supported by this version of the cyclic channel interface. An update is required in order to be able to use the function.

E_KinStatus 2:

Enable configuration

The ACS axes must be enabled by MC_Power so that the status can reach the value KinStatus_Ready.