Yaskawa MotionWorks IEC - Manual (Page 147)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 139
This Function Block returns in detail the status of the axis with respect to
motion currently in progress. The status reflects the Motion
State Diagram
and other motion related attributes.
Parameters
Parameter Data type Description
VAR_IN_OUT
B Axis AXIS_REF Logical axis reference. This value can be located
on the Configuration tab in the Hardware
Configuration (logical axis number).
VAR_INPUT Default
B Enable BOOL The function will continue
to execute while enable is
held high. FALSE
VAR_OUTPUT
B Valid BOOL Indicates that the outputs of the function are
valid.
B Busy BOOL Set high upon the rising edge of the 'Execute' or
'Enable' input, and reset if Done,
CommandAborted, or Error is true.
B Error BOOL Set high if error has occurred during the
execution of the function block. This output is
cleared when 'Execute' or 'Enable' goes low.
E ErrorID UINT If error is true, this output provides the Error ID.
This output is reset when 'Execute' or 'Enable'
goes low.
B ErrorStop BOOL See the state diagram
B Disabled BOOL See the state diagram
B Stopping BOOL See the state diagram
B StandStill BOOL See the state diagram
B DiscreteMotion BOOL See the state diagram
B ContinuousMotion BOOL See the state diagram
E SynchronizedMotion BOOL See the state diagram
E Homing BOOL See the state diagram
E ConstantVelocity BOOL Motor moves with constant velocity
E Accelerating BOOL Increasing energy of the motor
E Decelerating BOOL Decreasing energy of the motor