6.5.4.9 MC_ReadAxisInfo_ISD51x
This function block returns detailed information related to
an axis, such as modes and certain status information. The
output data is available immediately.
MC_ReadAxisInfo_ISD51x
EnableBOOL
Axis
AXIS_REF_-
ISD51x
BOOLValid
BOOLBusy
DD_ERROR_ISD51xErrorInfo
BOOL
BOOL
BOOL
HomeAbsSwitch
LimitSwitchPos
BOOLLimitSwitchNeg
BOOLSWLimitPos
BOOLSWLimitNeg
BOOLCommunicationReady
BOOLReadyForPowerOn
BOOLPowerOn
BOOLSafeTorqueO
BOOLIsHomed
BOOLAxisWarning
BOOLAxisError
Error
Illustration 6.32 MC_ReadAxisInfo_ISD51x
Variable
name
Data
type
Default
value
Description
VAR_IN_OUT
Axis AXIS_REF_ISD51x Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
VAR_INPUT
Enable BOOL FALSE Get the axis information
continuously while
enabled.
VAR_OUTPUT
Valid BOOL The function block has a
valid set of outputs.
Busy BOOL The function block is not
nished and new output
values are to be expected.
Error BOOL An error has occurred
within the function block.
ErrorInfo DD_ERROR_ISD51x Error identication and
instance identier.
See chapter 6.5.2.3 Error
Indication.
HomeAbsSwit
ch
BOOL Digital home switch input
is active.
Variable
name
Data
type
Default
value
Description
LimitSwitch-
Pos
BOOL Positive hardware end
switch is active.
LimitSwitch-
Neg
BOOL Negative hardware end
switch is active.
SWLimitPos BOOL Positive software limit is
active.
SWLimitNeg BOOL Negative software limit is
active.
Communica-
tionReady
BOOL Network is initialized and
ready for communication.
ReadyFor-
PowerOn
BOOL Drive is ready to be
enabled (power on).
PowerOn BOOL TRUE shows that the
power stage is switched
on.
SafeTorqueO BOOL TRUE: STO is activated =
Safety voltage is missing.
IsHomed BOOL The absolute reference
position is known for the
axis. Axis is homed.
AxisWarning BOOL Warning(s) on the axis
is/are present.
AxisError BOOL Error(s) on the axis is/are
present.
Table 6.10 MC_ReadAxisInfo_ISD51x
6.5.4.10 MC_ReadMotionState_ISD51x
This function block returns the detailed status of the axis
related to the motion currently in progress. See
chapter 7.22.3.1 Parameter 51-70: Constant Velocity Window
(0x2030) and chapter 7.22.3.2 Parameter 51-71: Constant
Velocity Window Time (0x2031) for settings of the detailed
evaluation of the information.
The output data is available immediately.
MC_ReadMotionState_ISD51x
EnableBOOL
Axis
AXIS_REF_-
ISD51x
BOOLValid
BOOLBusy
DD_ERROR_ISD51xErrorInfo
BOOL
BOOL
BOOL
ConstantVelocity
Standstill
BOOLAccelerating
BOOLD ecelerating
BOOLDirectionPositive
BOOLDirectionNegative
BOOLLimitActive
Error
130BE297.10
Illustration 6.33 MC_ReadMotionState_ISD51x
Programming
VLT
®
Integrated Servo Drive ISD
®
510 System
182 Danfoss A/S © 01/2017 All rights reserved. MG36D102
6
6
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