Chapter 11 Motion Control Instructions
11-111
Case 2： When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE and
ConstantVelocity, Accelerating, Decelerating, DirectionPositive and DirectionNegative remain the
state for when Enable is TRUE.
Case 3： When the value of Axis is out of the valid range and Enable changes from FALSE to TRUE, Busy
changes from FALSE to TRUE, one period later, Error changes from FALSE to TRUE and ErrorID
shows corresponding error codes. Meanwhile, Busy changes from TRUE to FALSE. Error
changes from TRUE to FALSE and the value of ErrorID becomes 0 as Enable changes from
TRUE to FALSE.
Function
MC_ReadMotionState is used to read current motion state of the servo axis. The motion state of the
servo axis includes the constant motion, acceleration or deceleration, positive rotation and negative
rotation.
Programming Example
This example of the execution of MC_ ReadMotionState is shown as below.
1. The variable table and program
Pwr_Err BOOL
Rel1_Ex
BOOL FALSE
Rel1_Act
BOOL
Rel1_ErrID
WORD
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