Y_GP_GetAxisAlarms
Y_GP_GetAxisAlarms is a function block to indicate if individual axes in a group have an alarm and provides corresponding drive alarm codes.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| V | GroupAlarmBits | Yt_GP_BOOLArray16 | Boolean result indicating if an axis has an alarm. | |
| V | GroupAlarmCodes | Yt_GP_AxisAlarmCodeArray |
Contains the alarm codes for any axis that has an alarm. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| E | 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 | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes
- MC_ReadAxisError is executed on each of the axes in the group.
Error Description
See the Function Block ErrorID List.
Example
The following example shows a case in which the first two axes of the group don't have any alarm, but the third one has a position deviation alarm. Valid output is TRUE and GroupAlarmBits and GroupAlarmCodes show the axis with the alarm.
The SERVOPACK manual gives the full detail about the error code.
