MC_ReadStatus

Syntax

Definition:

FUNCTION_BLOCK MC_ReadStatus
VAR_IN_OUT
    Axis               : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Enable             : BOOL;
END_VAR
VAR_OUTPUT
    Valid              : BOOL;
    Busy               : BOOL;
    Error              : BOOL;
    ErrorId            : UDINT;
    ErrorStop          : BOOL;
    Disabled           : BOOL;
    Stopping           : BOOL;
    Homing             : BOOL;
    Standstill         : BOOL;
    DiscreteMotion     : BOOL;
    ContinuousMotion   : BOOL;
    SynchronizedMotion : BOOL;
END_VAR

Inputs

Name	Type	Description
Enable	BOOL	Read the axis state continuously while Enable = TRUE.

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Valid	BOOL	Valid output available at function block
Busy	BOOL	Function block is not finished and new output values are to be expected.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier
ErrorStop	BOOL	Axis is in state ErrorStop.
Disabled	BOOL	Axis is in state Disabled.
Stopping	BOOL	Axis is in state Stopping.
Homing	BOOL	Axis is in state Homing.
Standstill	BOOL	Axis is in state Standstill.
DiscreteMotion	BOOL	Axis is in state DiscreteMotion.
ContinuousMotion	BOOL	Axis is in state ContinuousMotion.
SynchronizedMotion	BOOL	Axis is in state SynchronizedMotion.

Further information

Alternatively, the axis status can be read from the PLC using the AXIS_REF structure.

myAxis.McToPlc.Std.AxisState

Information about the individual states is summarized in the section State diagram.

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.

An overview of all NC error codes can be found here:

Other errors

Version information

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