FP_POS_UNIT_GET_STATUS

Get axis status of positioning unit

This FP instruction reads the status data from the positioning unit in the slot specified by s1_Slot and for the axis specified by s2_Axis if the trigger EN is TRUE. The result is stored in d1_Status.

Parameters

Input

s1_Slot (WORD, INT, UINT)

Slot number

s2_Axis (WORD, INT, UINT)

Axis number

Values: 1–4, 8 (virtual axis)

Output

d1_Status (WORD, INT, UINT): Status information

Remarks

Types of axis status information

Bit	Status information	TRUE
0	Tool operation	during tool operation of any axis configured with Configurator PM
1	Error	if an error occurred on the specified axis
2	Warning	if a warning was issued for the specified axis
3	Busy	if the specified axis is operating
4	Operation done	if operation is completed on the specified axis
5	Home return done	if home return is completed on the specified axis

Error flags

sys_bIsOperationErrorHold (turns to TRUE and remains TRUE)

if the area specified using the index modifier exceeds the limit.
if the slot and/or axis number is out of range

sys_bIsOperationErrorNonHold (turns to TRUE for one scan)

if the area specified using the index modifier exceeds the limit.
if the slot and/or axis number is out of range

Example

POU header

All input and output variables used for programming this function have been declared in the POU header. The same POU header is used for all programming languages.

	VAR
		bStart: BOOL:=FALSE;
		iSlotNumberPositioningUnit: INT:=0;
			(*slot unit where the positioning unit is assigned 1- 64*)
		iPositioningUnit_Axis: INT:=0;
			(*Axis of the positioning unit to obtain status for (1-4: axis; 8: virtual axis)*)
		dutPositioningUnitAxisStatus: BOOL16_OVERLAPPING_DUT;
			(*Status of the positioning unit axis:
b0: Tool operation
b1: Error annunciation
b2: warning annunciation
b3: busy
b4: operation done
b5: home return done*)
	END_VAR

POU body

When the variable bStart is set to TRUE, the function is carried out.

LD body

BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_F,FP_POS_UNIT_GET_STATUS!,,17,1,31,6,,?DEN?Ds1_Slot?Ds2_Axis?AENO?Cd1_Status);
B(B_VARIN,,iSlotNumberPositioningUnit,15,3,17,5,);
B(B_VARIN,,iPositioningUnit_Axis,15,4,17,6,);
B(B_VAROUT,,dutPositioningUnitAxisStatus.w0,31,3,33,5,);
B(B_CONTACT,,bStart,3,2,5,4,);
L(5,3,17,3);
L(1,3,3,3);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY

ST body

IF bStart then
    FP_POS_UNIT_GET_STATUS(s1_Slot := iSlotNumberPositioningUnit,
                           s2_Axis := iPositioningUnit_Axis,
                           d1_Status => dutPositioningUnitAxisStatus.w0);
END_IF;