Axis Status Information
Original instructions
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At a Glance
In order to know which PLCopen state the axis is in, check the value of the AXIS_STS object (%IWr.m.c.6).
Axis Status
This word does not describe all the PLCopen states that appear in the state diagram, but it indicates which of the following 4 states the axis is in:
STANDSTILL state is described with the following set of information:
  • bit0 (MOVING) = 0
  • bit1 (STOPPING) = 0
  • bit3 (AXIS_FLT) = 0
  • %IWr.m.c.0 = 0 & %IWr.m.c.7.bit0 = 1 (no command in execution)
  • %IWr.m.c.1 = 0 & %IWr.m.c.7.bit1 = 1 (no command in buffer)
STOPPING state is described with the following set of information:
  • bit1 (STOPPING) = 1
  • bit3 (AXIS_FLT) = 0
  • %IWr.m.c.0 = 0 & %IWr.m.c.7.bit0 = 1 (no command in execution)
  • %IWr.m.c.1 = 0 & %IWr.m.c.7.bit1 = 1 (no command in buffer)
ERROR_STOP state is described with the following set of information:
  • bit1 (STOPPING) = 1
  • bit3 (AXIS_FLT) = 1
  • %IWr.m.c.0 = 0 & %IWr.m.c.7.bit0 = 1 (no command in execution)
  • %IWr.m.c.1 = 0 & %IWr.m.c.7.bit1 = 1 (no command in buffer)
Command in execution. This is not a PLCopen state but includes several of them. It is described with the following set of information:
  • bit1 (STOPPING) = 0
  • bit3 (AXIS_FLT) = 0
  • %IWr.m.c.0 ≠ 0 & %IWr.m.c.7.bit0 = 0 (command in execution)
  • bit0 (MOVING) = 1
This word (%IWr.m.c.0) indicates the exact PLCopen state:
Each command sent has an allocated number and can be read through the CMD_SENT_NB (%MWr.m.c.13) object or the EF output.
Knowing these two numbers, it is possible to identify which command and which type of profile is currently being executed and which state the axis is in (CONTINUOUS MOTION, DISCRETE MOTION and HOMING). This information can also be obtained using the Cmd_Status function.
NOTE: When Drive_Enable is disabled, the axis referenced bit is cleared and any command can be accepted.