13.7.3.18 FB 819 - MC_ReadMotionState - read status motion job
An overview of the drive systems, which can be controlled with this block
can be found here:
Ä
Chap. 13.7.1 ‘Overview’ page 542
With MC_ReadMotionState the current status of the motion job is shown.
Parameter
Parameter Declaration Data type Description
Axis IN_OUT MC_AXIS_REF Reference to the axis
Enable INPUT BOOL
n Read motion state
– TRUE: The status of the motion job is continuously
read
– FALSE: All the outputs are FALSE respectively 0
Source INPUT Byte Only Source = 0 is supported; at the outputs the current
status of the motion job is shown.
Valid OUTPUT BOOL
n Status valid
– TRUE: The read status of the motion job is valid
Error OUTPUT BOOL
n Status
– TRUE: An error has occurred. Additional error infor-
mation can be found in the parameter ErrorID.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
ConstantVelocity OUTPUT BOOL
n Status motion job: Velocity
– TRUE: Velocity is constant
Accelerating OUTPUT BOOL Please note that this parameter is not supported when using
inverter drives via EtherCAT!
n Status motion job: Acceleration
– TRUE: The axis is accelerated; the velocity of the axis
is increasing
Decelerating OUTPUT BOOL Please note that this parameter is not supported when using
inverter drives via EtherCAT!
n Status motion job: Braking process
– TRUE: Axis is decelerated; the velocity of the axis is
getting smaller
DirectionPositive OUTPUT BOOL
n Status motion job: Position increasing
– TRUE: The position of the axis is increasing
DirectionNega-
tive
OUTPUT BOOL
n Status motion job: Position decreasing
– TRUE: The position of the axis is decreasing
n Job start in each PLCopen-State possible.
Description
PLCopen-State
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 579
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