EAxisState

Syntax

Definition:

TYPE EAxisState :
(
    Invalid            := 0,
    Disabled           := 1,
    Standstill         := 2,
    Homing             := 3,
    ErrorStop          := 4,
    Stopping           := 5,
    DiscreteMotion     := 6,
    ContinuousMotion   := 7,
    SynchronizedMotion := 8,
    ResetPending       := 10,
    Enabling           := 11,
    Disabling          := 12,
    NotReady           := 13
)UINT;
END_TYPE

Values

Name

Description

Invalid

Axis object is not initialized or in an undefined state.

Disabled

Axis is disabled and the drive power stage is off.

Standstill

Axis is enabled and at standstill, ready to accept motion commands.

Homing

Axis is performing a homing procedure to establish a reference position.

ErrorStop

Axis has stopped due to an error. Error must be reset before further motion.

Stopping

Axis is decelerating to standstill during a stop command and remains in this state until Execute for stop command is released.

DiscreteMotion

Axis is executing a point-to-point motion command with a defined target position.

ContinuousMotion

Axis is executing a continuous velocity motion without a defined end position.

SynchronizedMotion

Axis is coupled to a master axis and following synchronized setpoints (e.g. gearing, camming).

ResetPending

An error reset has been requested and is being processed.

Enabling

Axis is in the process of being enabled (drive power stage is starting up).

Disabling

Axis is in the process of being disabled (drive power stage is shutting down).

NotReady

Axis is not ready for operation, e.g. waiting for required sub-modules to initialize or to start up.

Meaning of the states

Name

Description

Invalid

  • Invalid axis state
  • The axis is not ready for operation.
  • A possible cause could be that AXIS_REF is not linked to an MC3 axis.

Disabled

  • Basic state of an axis.
  • The axis is not released.
  • There is no axis error.

Standstill

  • The axis is enabled.
  • No command has been issued to the axis.

Homing

  • The axis is enabled.
  • The axis is homed (e.g., MC_Home).

ErrorStop

  • An axis error has occurred.
  • A reset is required to exit this state.

Stopping

  • The axis is enabled.
  • The axis is on a stop ramp (MC_Stop).
  • MC_Stop.Execute is set and blocks new motion commands.

DiscreteMotion

  • The axis is enabled.
  • The axis performs a point-to-point movement (e.g., MC_MoveAbsolute, MC_MoveRelative, MC_MoveModulo, MC_Halt).

ContinuousMotion

  • The axis is enabled.
  • The axis performs a continuous motion (e.g., MC_MoveVelocity).

SynchronizedMotion

  • The axis is enabled.
  • The axis is linked to another axis (e.g., MC_CamIn, MC_GearIn, MC_GearInPos).

ResetPending

  • Internal state

Enabling

  • Extended axis status for representation of hardware conditions.
  • The command to enable the drive hardware's output stage has already been sent or is currently being sent, and the MC3 axis is waiting for the drive hardware to reach the “operational” state

Disabling

  • Extended axis status for representation of hardware conditions.
  • The command to deactivate the drive hardware's output stage has already been sent or is currently being sent, and the MC3 axis is waiting for the drive hardware to enter the “not operational” state.

NotReady

  • Extended axis status for representation of hardware conditions.
  • The axis is not ready for operation.
  • There is no active communication with the hardware (e.g., WcState), or the drive's state machine reports “not ready”.

Version information

  • TwinCAT Standard >= v3.1.4026.23.1
  • TF5500 MC3 Base >= v4.0.6