MDI_ReadStatus (FB)

FUNCTION_BLOCK MDI_ReadStatus

This function block makes the status bits available from the axis reference structure.

InOut:

Scope	Name	Type	Initial	Comment
Input	Enable	BOOL	FALSE	Enable the function block.
	VelocityWindow	LREAL	5	If the actual velocity is greater than VelocityWindow, the state of axis is valid. Not support homing mode.Unit: user units/s. Default value: 5.
Inout	Axis	MDI_AxisRef		Reference to the axis structure.
Output	Valid	BOOL		Values are available.
	Error	BOOL		Signals that an error has occurred within function block.
	ErrorID	ERROR_ID		Contains the error code when there is an error.
	ErrorStop	BOOL		Axis is in specific state.
	Disabled	BOOL		Axis is in specific state.
	Stopping	BOOL		Axis is in specific state.
	StandStill	BOOL		Axis is in specific state.
	DiscreteMotion	BOOL		Axis is in specific state, not support homing mode.
	SetPointReached	BOOL		Reached setpoint set in relevant mode, not support homing mode.
	ConstantVelocity	BOOL		Axis is in specific state, motor moves with constant velocity, not support homing mode.
	Accelerating	BOOL		Axis is in specific state, increasing energy of the motor, not support homing mode.
	Decelerating	BOOL		Axis is in specific state, decreasing energy of the motor, not support homing mode.
	Forward	BOOL		Signals that the position is increasing,not support homing mode.
	Backward	BOOL		Signals that the position is decreasing,not support homing mode.
	LimitActive	BOOL		Torque or velocity limit is prohibiting motion, not support homing mode.
	Homing	BOOL		Axis is in specific state.
	ActiveControlMode	DINT		1 - Position, 3-Velocity, 4-Torque, 6-Homing.
	DriveWarningActive	BOOL		Drive is in warning state.
	DriveErrorActive	BOOL		Drive is in error state.
	DriveErrorCode	DINT		Error identification. For error details refer to drive manual.
	PositionFollowingError	DINT		E530 only user units - For position mode.

Structure:

• MDI_ReadStatus.DirAndNoneSlewCalc (ACT)