Chapter 17 Motion control instructions
444 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
FB_AXIS_REF data type
The FB_AXIS_REF data type is a data structure that contains information for a
Motion Feedback Axis. It is used as an input and output variable in motion
control function blocks. An instance of an FB_AXIS_REF data type is
automatically created when you add a HSC module and the mode is configured as
Feedback Axis mode.
Parameter Data type Description
Axis_ID FB_AXIS_REF The logic axis ID automatically assigned by Connected Components Workbench. It cannot be edited or viewed by
user.
Error Flag BOOL Indicates whether an error is present in the Feedback Axis.
ConstVel BOOL Indicates whether the Feedback Axis is in Constant Velocity movement or not. Stationary axis is not considered
in Constant Velocity.
AccFlag BOOL Indicates whether the Feedback Axis is in an Accelerating movement or not.
DecelFlag BOOL Indicates whether the Feedback Axis is in an Decelerating movement or not.
AxisState USINT Indicates the current state of the Feedback Axis.
ErrorID UINT Indicates the cause for axis error when error is indicated by ErrorFlag. This error usually results from motion
control function block execution failure.
ExtraData UINT Reserved.
ActualPos REAL Actual mechanical position read back from Motion feedback channel (HSC).
ActualVel REAL Actual mechanical velocity read back from Motion feedback channel (HSC).
Important:
Once a Feedback Axis is flagged with an error, and the error ID is not zero, the FBAxis must be reset using MC_Reset before issuing any other movement
function block.
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