AXIS_VIRTUAL Structure

A virtual axis object is an axis with full motion planner operation, but is not associated with any physical device.
The AXIS_VIRTUAL structure contains the following status attributes:
Attribute Name
Data Type
Description
MotionStatus
DINT
The motion status bits for your axis.
Bit #
Bit Name (tag)
Description
BOOL
00
AccelStatus
Acceleration Status
BOOL
01
DecelStatus
Deceleration Status
BOOL
02
MoveStatus
Move Status
BOOL
03
JogStatus
Jog Status
BOOL
04
GearingStatus
Gearing Status
BOOL
05
HomingStatus
Homing Status
BOOL
06
StoppingStatus
Stopping Status
BOOL
07
AxisHomedStatus
Homing Status
BOOL
08
PositionCamStatus
Position Cam Status
BOOL
09
TimeCamStatus
Time Cam Status
BOOL
10
PositionCamPendingStatus
Position Cam Pending Status
BOOL
11
TimeCamPendingStatus
Time Cam Pending Status
BOOL
12
GearingLockStatus
Gearing Lock Status
BOOL
13
PositionCamLockStatus
Position Cam Lock Status
BOOL
14
TimeCamLockStatus
Time Cam Lock Status
BOOL
15
MasterOffsetMoveStatus
Master Offset Move Status
AxisStatus
DINT
The status bits for your axis:
BOOL
Bit #
Bit Name (tag)
Description
BOOL
00
ServoActionStatus
Servo Action Status
BOOL
01
DriveEnableStatus
Drive Enable Status
BOOL
02
ShutdownStatus
Shutdown Status
BOOL
03
ConfigUpdateInProcess
Configuration Update In Process
AxisFault
DINT
The axis faults for your axis:
Bit #
Bit Name (tag)
Description
BOOL
00
PhysicalAxisFault
Physical Axis Fault
BOOL
01
ModuleFault
Module Fault
BOOL
02
ConfigFault
Configuration Fault
BOOL
03
GroupFault
Group Fault
AxisEvent
DINT
The event status for your axis:
Bit #
Bit Name (tag)
Description
BOOL
00
WatchEvArmStatus
Watch Event Armed Status
BOOL
01
WatchEvStatus
Watch Event Status
BOOL
02
RegEvArmStatus
Registration Event 1 Armed Status
BOOL
03
RegEvStatus
Registration Event 1 Status
BOOL
04
RegEv2ArmStatus
Registration Event 2 Armed Status
BOOL
05
RegEv2Status
Registration Event 2 Status
BOOL
06
HomeEvArmStatus
Home Event Armed Status
BOOL
07
HomeEvStatus
Home Event Status
ActualPosition
REAL
Actual Position in Position Units
StrobeActualPosition
REAL
Strobe Actual Position in Position Units
StartActualPosition
REAL
Start Actual Position in Position Units
AverageVelocity
REAL
Average Velocity in Position Units / Sec
ActualVelocity
REAL
Actual Velocity in Position Units / Sec
ActualAcceleration
REAL
Actual Acceleration in Position Units / Sec
2
WatchPosition
REAL
Watch Position in Position Units
RegistrationPosition
REAL
Registration 1 Position in Position Units
Registration2Position
REAL
Registration 2 Position in Position Units
Registration1Time
DINT
Registration 1 Time as CST time in microseconds
Registration2Time
DINT
Registration 2 Time as CST time in microseconds
InterpolationTime
DINT
Interpolation Time as CST time in microseconds
InterpolatedActualPosition
REAL
Interpolated Actual Position in Position Units
MasterOffset
REAL
Master Offset in Master Position Units
StrobeMasterOffset
REAL
Strobe Master Offset in Master Position Units
StartMasterOffset
REAL
Start Master Offset in Master Position Units
CommandPosition
REAL
Command Position in Position Units
StrobeCommandPosition
REAL
Strobe Command Position in Position Units
StartCommandPosition
REAL
Start Command Position in Position Units
CommandVelocity
REAL
Command Velocity in Position Units / Sec
CommandAcceleration
REAL
Command Acceleration in Position Units / Sec
2
InterpolatedCommandPosition
REAL
Interpolated Command Position in Position Units
AccelStatus
Set if the axis is currently being commanded to accelerate.
DecelStatus
Set if the axis is currently being commanded to decelerate.
MoveStatus
Set if a Move motion profile is currently in progress. Cleared when the Move is complete or is superseded by some other motion operation.
JogStatus
Set if a Jog motion profile is currently in progress. Cleared when the Jog is complete or is superseded by some other motion operation.
GearingStatus
Set if the axis is a slave that is currently Gearing to another axis. Cleared when the gearing operation is stopped or is superseded by some other motion operation.
HomingStatus
Set if a Home motion profile is currently in progress. Cleared when the homing operation is stopped or is superseded by some other motion operation.
StoppingStatus
Set if there is a stopping process currently in progress. Cleared when the stopping process is complete.
Tip
: The stopping process is used to stop an axis (initiated by an MAS, MGS, Stop Motion fault action, or mode change). This bit is no longer associated with the gearing Clutch bit (MAG with Clutch selected) which, for I4B, has been explicitly named the Gearing Lock Status bit.
AxisHomedStatus
Cleared at power-up or reconnection. Set by the MAH instruction upon successful completion of the configured homing sequence, and later cleared when the axis enters the shutdown state.
PositionCamStatus
Set if a Position Cam motion profile is currently in progress. Cleared when the Position Cam is complete or is superseded by some other motion operation.
TimeCamStatus
Set if a Time Cam motion profile is currently in progress. Cleared when the Time Cam is complete or is superseded by some other motion operation.
PositionCamPendingStatus
Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile. This would be initiated by executing an MAPC instruction with Pending execution selected. This bit is cleared when the current position cam profile completes, initiating the start of the pending cam profile. This bit is also cleared if the position cam profile completes, or is superseded by some other motion operation.
TimeCamPendingStatus
Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile. This would be initiated by executing an MATC instruction with Pending execution selected. This bit is cleared when the current time cam profile completes, initiating the start of the pending cam profile. This bit is also cleared if the time cam profile completes, or is superseded by some other motion operation.
GearingLockStatus
Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio. The clutch function of the gearing planner is used to ramp an axis up, or down, to speed in a gearing process (MAG with Clutch selected). This bit is cleared during the intervals where the axis is clutching.
PositionCamLockStatus
Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile. The starting condition is established by the Start Control and Start Position parameters of the MAPC instruction. This bit is bit is cleared when the current position cam profile completes, or is superseded by some other motion operation. In uni-directional master direction mode, the Position Cam Lock Status bit is cleared when moving in the "wrong" direction and sets when moving in the "correct" direction.
TimeCamLockStatus
Time Cam Lock Status (not enabled in this release)
MasterOffsetMoveStatus
Set if a Master Offset Move motion profile is currently in progress. This bit is cleared when the Master Offset Move is complete or is superseded by some other motion operation.
ServoActionStatus
Set when the associated axis is under servo control. Cleared when servo action is disabled.
DriveEnableStatus
Set when the Drive Enable output of the associated physical axis is currently enabled. Cleared when physical servo axis Drive Enable output is currently disabled.
ShutdownStatus
Set when the associated axis is currently in the Shutdown state. Cleared when the axis is transitioned from the Shutdown state to another state.
ConfigUpdateInProcess
The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service (internal to the firmware) or an SSV in the user program. When such an update is initiated, the
ControlLogix
processor sets this bit. This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful. Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation.
PhysicalAxisFault
Set when one or more fault conditions have been reported by the physical axis. The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis. A PhysicalAxisFault can be set as either a Major Fault or a Non Major Fault in the Attribute tab of the associated Motion Group properties dialog box.
ModuleFault
Set when a serious fault has occurred with the motion module associated with the selected axis. Usually a module fault affects all axes associated with the motion module. A module fault generally results in the shutdown of all associated axes. Reconfiguration of the motion module is required to recover from a module fault condition. A ModuleFault can be set as either a Major Fault or a Non Major Fault in the Attribute tab of the associated Motion Group properties dialog box.
ConfigFault
Set when an update operation targeting an axis configuration attribute of an associated motion module has failed. Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module. A ConfigFault can be set as either a Major Fault or a Non Major Fault in the Attribute tab of the associated Motion Group properties dialog box.
WatchEvArmStatus
Set when a watch event has been armed through execution of the MAW (Motion Arm Watch) instruction. Cleared when either a watch event occurs or a MDW (Motion Disarm Watch) instruction is executed.
WatchEvStatus
Set when a watch event has occurred. Cleared when either another MAW (Motion Arm Watch) instruction or a MDW (Motion Disarm Watch) instruction is executed.
RegEvArmStatus
Set when a registration checking has been armed for registration input 1 through execution of the MAR (Motion Arm Registration) instruction. Cleared when either a registration event occurs or a MDR (Motion Disarm Registration) instruction is executed for registration input 1.
RegEvStatus
Set when a registration event has occurred on registration input 1. Cleared when either another MAR (Motion Arm Registration) instruction or a MDR (Motion Disarm Registration) instruction is executed for registration input 1.
RegEv2ArmStatus
Set when a registration checking has been armed for registration input 2 through execution of the MAR (Motion Arm Registration) instruction. Cleared when either a registration event occurs or a MDR (Motion Disarm Registration) instruction is executed for registration input 2.
RegEv2Status
Set when a registration event has occurred on registration input 2. Cleared when either another MAR (Motion Arm Registration) instruction or a MDR (Motion Disarm Registration) instruction is executed for registration input 2.
HomeEvArmStatus
Set when a home event has been armed through execution of the MAH (Motion Axis Home) instruction. Cleared when a home event occurs.
HomeEvStatus
Set when a home event has occurred. Cleared when another MAH (Motion Axis Home) instruction is executed.
OutputCamStatus
DINT
A set of bits * that are set when the Output Cam has been initiated.
OutputCamPendingStatus
DINT
A set of bits * that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start/cam end position.
OutputCamLockStatus
DINT
A set of bits * that are set when an Output Cam is locked to the master axis.
OutputCamTransitionStatus
DINT
A set of bits * that are set when the transition from the current armed Output Cam to the pending Output Cam is in process.
* The bit number corresponds with the execution target number. One bit per execution target.
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