MC_ReadStatus
This function block returns the state of the axis in detail. The state reflects the motion state diagram and other motion related attributes.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. | |
| VAR_INPUT |
|
|||
| B | Enable | BOOL | The function block will continue to execute every scan while Enable is TRUE and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | The Valid output indicates that the function block is operating normally and the outputs of the function block are valid. | |
| B | Busy | BOOL | For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs. | |
| B | ErrorStop | BOOL | An axis error has occurred. Refer to the state diagram. | |
| B | Disabled | BOOL | Axis is not energized. Refer to the state diagram. | |
| B | Stopping | BOOL | Axis is decelerating to a stop. Refer to the state diagram. | |
| B | StandStill | BOOL | Axis is powered but not moving. Refer to the state diagram. | |
| B | DiscreteMotion | BOOL | Axis is under control of a point to point motion command. Refer to the state diagram. | |
| B | ContinuousMotion | BOOL | Axis is under control of a continuous profile motion command.Refer to the state diagram. | |
| E | SynchronizedMotion | BOOL | Axis is under control of a synchronized motion command like gear or cam. Refer to the state diagram. | |
| E | Homing | BOOL | Axis is under control of a homing command where a new reference frame will be set.Refer to the state diagram. | |
| E | ConstantVelocity | BOOL | Axis is moving with a constant velocity. | |
| E | Accelerating | BOOL | Axis is accelerating. | |
| E | Decelerating | BOOL | Axis is decelerating. | |
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE. | |
| B | ErrorID | UINT | The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE | |
Error Description
See the
Function Block ErrorID List
Single Axis State Diagram
Notes
Yaskawa VFDs
| PLCopen Part1 Statuses | Variable Frequency Drives | ||
| EtherCAT | ProfiNet | Modbus RTU | |
| Disable |
Drive State:
(Any)
"SwitchOnInhibit" "NotReadyToSwitchOn" "ReadyToSwitchOn" "SwitchedOn" "MainsOff" "QuickStop" "VoltageDisabled" |
PROFIdrive State:
(Any)
"SWITCH-ON INHIBIT" "NOT_READY TO SWITCHON" "READY TO SWITHON" "READY TO OPERATE" "MAINS OFF" "OPERATION INHIBIT" "OFF1 ACTIVE" "OFF2 ACTIVE" "OFF3 ACTIVE" |
Drive State: STO active (Drive Status 1, Bit C, D) OR MC_Power.Enable = FALSE |
| Standstill | Commanded Velocity = 0,
Actual Velocity = 0, AND Drive State: "Operating" |
Commanded Velocity = 0,
ActualVelocity = 0, AND PROFIdrive State : (Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELERATION" "OPERATING" |
Drive Ready(Drive Status 1, Bit 2), NOT During Run (Drive Status 1, Bit0), AND During Zero Speed (Drive Status 2, Bit 1) |
| Homing | Not supported (FALSE) | Not supported (FALSE) | Not Supported (FALSE) |
| Discrete Motion | Not supported (FALSE) | Not supported (FALSE) | Not supported (FALSE) |
| Synchronized Motion | Not supported (FALSE) | Not supported (FALSE) | Not supported (FALSE) |
| Continuous Motion | Commanded Velocity <> 0, Actual Velocity <> 0 AND Drive State: "Operating" |
Commanded Velocity <> 0 AND PROFIdrive state: ( Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELRATION" "OPERATING" |
During Run (Drive Status 1, Bit 0) |
| Stopping |
MC_Stop.Execute = TRUE AND Drive State: "Operation Enable" "Operating" |
MC_Stop.Execute = TRUE AND PROFIdrive State: (Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELRATION" "OPERATING" OR "OFF1 ACTIVE" "OFF2 ACTIVE" "OFF3 ACTIVE" |
TRUE when
MC_Stop
is active (While stopping and in StandStill) |
| Errorstop | Drive State: "FAULT" | PROFIdrive State = "FAULT" | Fault (Drive Status 1, Bit 3) |
| Constant Velocity | Target Reached (StatusWord, Bit 10) AND TargetVelocity <> 0 |
Accelerating = FALSE, Decelerating = FALSE, AND PROFIdrive State: (Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELRATION" "OPERATING" |
Speed Agreement (Drive Status 2, Bit 2) |
| Accelerating | InAcceleration AND Operation Enabled (StatusWord, Bit 2) |
Commanded Velocity > Actual Velocity AND PROFIdrive State: (Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELRATION" "OPERATING" |
InAcceleration AND During Run (Drive Status 1, Bit 0) |
| Decelerating | InDeceleration AND Operation Enabled (StatusWord, Bit 2) |
Commanded Velocity <
Actual Velocity AND PROFIdrive State: (Any) "ENABLE OPERATION" "RFG: ENABLE OUTPUT" "RFG: ENABLE ACCELRATION" "OPERATING" |
In Deceleration AND During Run (Drive Status 1, Bit 0) |
VFDs with Modbus RTU connection:
-
Note: due to Serial Communication, the number of connected Inverters or Generic Devices and the task cycle time the update rate will be slower compared to EtherCAT or
Profinet
connection.
E.g. the time to accelerate might be too short that the Accelerating Output will change to TRUE. -
Error Output monitors the FB and not the Inverter status.
-
Further details of the communication management to Yaskawa Drives and Generic Devices are described here:
Modbus RTU Communication Details for Drives and generic Modbus Devices
Example
Instance of
MC_ReadStatus
reading an axis that has not been powered on with
MC_Power.
