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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