BM_ReadStatus

Description

The FC BM_ReadStatus provides the drive status of the BM Motion Control axis.

Attention:

The processing of BM Motion Control Motion commands cannot be made from the errorstop status and requires the availability of the axis via BM_Power.

Parameter Input	Data Type	Description
Enable	BOOL	Update of the status output on every calling

Parameter Output	Data Type	Description
Done	BOOL	Output valid; one status is active only
Error	BOOL	Error bit, error info ErrorID is valid
Errorstop	BOOL	Locking status Errorstop active
Stopping	BOOL	Drive is stopped from every movement. Remains active until to the last BM_Stop-instance at the input Execute = TRUE and then changes to Standstill.
Standstill	BOOL	Speed is zero. With BM_Power Status = TRUE the MC movements are ready for operation.
Disabled	BOOL	The drive status is not in the availability mode
DiscreteMotion	BOOL	Drive positions to a positioning target. After finishing it changes to the Standstill status
ContinuousMotion	BOOL	Drive moves with a connected speed.
SynchronizedMotion	BOOL	Drive moves synchronous to a master position (multi axis commands)
Homing	BOOL	Calling up is possible from standstill with BM_Home only and must be interrupted with BM_Stop

Parameters Input and output	Data Type	Description
Axis	UDT	BM Motion Control Axis Variables

Description

The BM_ReadStatus command outputs neutral states of the drive movement. The displayed states can be used as transitions (switching condition) to call up movement commands such as BM_Home from standstill. Normally this is not necessary because the movement command states DiscreteMotion, ContinuousMotion and SynchronizedMotion can be interrupted by another movement command.

Call up BM_ReadStatus
from status: all states.

Recommended call up is:  OB1.

Note:

BM_ReadStatus especially is used during the set-up phase of the application and should be programmed with BM_Power and BM_Reset at first.

Input Enable:

TRUE: At every call-up the display is updated.

FALSE: No execution and ready to start again.

Output Done:

TRUE: Outputs valid.

FALSE: Reset active or not possible.

Output Error:

TRUE:  Error active.

FALSE: No error active.

Output Errorstop:

TRUE: Active.

FALSE: Not active.

Output Stopping:

TRUE: Active.

FALSE: Not active.

Output Standstill:

TRUE: Active.

FALSE: Not active.

Output Disabled:

TRUE: Active.

FALSE: Not active.

Output DiscreteMotion:

TRUE: Active.

FALSE: Not active.

Output ContinuousMotion:

TRUE: Active.

FALSE: Not active.

Output SynchronizedMotion:

TRUE: Active.

FALSE: Not active.

Output Homing:

TRUE:  Active.

FALSE: Not active.

Input and output Axis:

UDT type symbolic BM Motion Control axis variable.

During the programming with the data module template DB5 (symbolic "BM") the following symbol text must be written: "BM".AXIS[x] (x is the drive axis number)

Note 1: From every status. An error in the axis occured.

Note 2: From every status. BM_Power. Enable = FALSE and there is no error in the axis

Note 3: BM_Reset AND BM_Power.Status = FALSE

Note 4: BM_Reset AND BM_Power.Status = TRUE AND BM_Power.Enable = TRUE

Note 5: BM_Power.Enable = TRUE AND BM_Power.Status = TRUE

Note 6: BM_Stop.Done = TRUE AND BM_Stop.Execute = FALSE

Overviewing the state machine of the motion control

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