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(Original Document)
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(Original Document)
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LD Axis
CAL MC_READSTATUS_Instance(AXIS:=AXIS, ENABLE:=ENABLE, ERROR=>ERR, VALID=>DO, BUSY=>B, ERRORID=>ERRID, ERRORSTOP=>ERRSTOP, STOPPING=>STOP, STANDSTILL=>ST, DISCRETMOTION=>DM, CONTINUOUSMOTION=>CM, SYNCHRONIZEDMOTION=>SM, MOTIONTASKMOTION=>MTM, REFERENCED=>REF, DOWNLOADING=>DWNLD, DISABLED=>DIS, HOMING=>HOM)
MC_READSTATUS_Instance(AXIS:=AXIS, ENABLE:=ENABLE, ERROR=>ERR, VALID=>DO, BUSY=>B, ERRORID=>ERRID, ERRORSTOP=>ERRSTOP, STOPPING=>STOP, STANDSTILL=>ST, DISCRETMOTION=>DM, CONTINUOUSMOTION=>CM, SYNCHRONIZEDMOTION=>SM, MOTIONTASKMOTION=>MTM, REFERENCED=>REF, DOWNLOADING=>DWNLD, DISABLED=>DIS, HOMING=>HOM);
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Parameter
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Type
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Comment
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ERROR
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When ERROR is TRUE, an execution error is detected by the function block.
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ERRORID
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Axis is missing or faulty.
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ERRORSTOP
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When ERRORSTOP is TRUE, stop with an error.
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STOPPING
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When STOPPING is TRUE, MC_STOP is in progress.
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STANDSTILL
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When StandStill is TRUE, the servodrive is in StandStill status.
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DSICRETMOTION
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When DISCRETMOTION is TRUE, a move in absolute or relative mode is in progress, or Jog.
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CONTINUOUSMOTION
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When CONTINUOUSMOTION is TRUE, a move in speed mode is in progress, or torque.
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SYNCHRONIZEDMOTION
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A synchronization operation is in progress, via the gearing operating mode.
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MOTIONTASKMOTION
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An MotionTask operation is in progress via the LXM_STARTMTASK block.
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REFERENCED
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The servodrive is referenced (homing performed).
Note: This bit is not taken into account for ATV type servodrives.
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DOWNLOADING
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When DOWNLOADING is TRUE, downloading is in progress.
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DISABLED
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Axis is in disable status.
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HOMING
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When HOMING is TRUE:
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