MOTION_INSTRUCTION Structure
Each motion instruction has a MOTION_INSTRUCTION structure that contains status information about the instruction.
instruction
A mnemonic and data address defining an operation to be performed by the controller. A rung in a program consists of a set of input and output instructions. The input instructions are evaluated by the controller as being True or False. In turn, the controller sets the output instructions to True or False.
Mnemonic | Data Type | Description | |
FLAGS | DINT | Use this DINT to access all the status bits for the instruction in one 32-bit value. | |
For this status bit | Use this bit number | ||
EN | 31 | ||
DN | 29 | ||
ER | 28 | ||
PC | 26 | ||
IP | 27 | ||
AC | 23 | ||
DECEL | 01 | ||
ACCEL | 00 | ||
EN | BOOL | The enable bit indicates that the instruction is enabled (the rung-in and rung-out condition is true). | |
DN | BOOL | The done bit indicates that all calculations and messaging (if any) are complete. | |
ER | BOOL | The error bit indicates when the instruction is used illegally. | |
PC | BOOL | The process complete bit indicates that the operation is complete. The .DN bit sets after an instruction has completed execution. The .PC bit sets when the initiated process has completed. | |
IP | BOOL | The in process bit indicates that a process is being executed. | |
AC | BOOL | The Active Bit lets you know which instruction is controlling the motion when you have instructions queued. It sets when the instruction becomes active. It is reset when the Process Complete bit is set or when the instruction is stopped. | |
ACCEL | BOOL | The .ACCEL bit indicates that the velocity has increased for the individual instruction that it is tied to, that is, jog, move, gearing | |
DECEL | BOOL | The .DECEL bit indicates that the velocity has decreased for the individual instruction that it is tied to, that is, jog, move, gearing. | |
TrackingMaster | BOOL | Indicates that the Slave Coordinate System is tracking the Master Axis (only used in Master Driven Mode). | |
CalculatedDataAvailable | BOOL | Indicates that the requested data has been returned in the Calculated Data array element and that the Logix Designer application has updated the output data in the Calculated Data parameter. Only one status bit is used to indicate all Calculated Data is available. | |
ERR | INT | The error value contains the error code associated with a motion function. See Motion Error Codes (.ERR) for Motion Instructions. | |
STATUS | SINT | The status of any message associated with the motion function. | |
Message Status | Description | ||
0x0 | The message was successful. | ||
0x1 | The module is processing another message. | ||
0x2 | The module is waiting for a response to a previous message. | ||
0x3 | The response to a message failed. | ||
0x4 | The module is not ready for messaging. | ||
STATE | SINT | The execution status value keeps track of the execution state of a function. Many motion functions have several steps and this value tracks these steps. The execution status is always set to 0 when the controller sets the EN bit for a motion instruction. Other execution states depend on the motion instruction. | |
SEGMENT | DINT | A segment is the distance from one point up to but, not including the next point. A SEGMENT gives the relative position by segment number as the Cam is executing. | |
EXERR | SINT | Extended error code - use it for more information about an error. | |
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