XGB EtherCAT Reading Axis Operation and State Data

The XPM_CRD reads operation information from the axis.

Element Name	Element Type	Description
REQ	Input	Enable the function block. Data will be constantly updated with REQ = TRUE.
BASE	Input	Base number of the motion controller. Set 0 to the Base Number.
SLOT	Input	Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS	Input	Axis to command with function block. XBF-PN04B:1~4, XBF-PN08B:1~8
DONE	Output	Status that function block is done.
STAT	Output	Current status of the function block. Non-zero numbers will be an error or warning.
ERR	Output	Displays axis error number.
CERR	Output	Displays common error number.
CA	Output	Axis commanded position.
CV	Output	Axis commanded speed.
SA	Output	Axis current position.
SV	Output	Axis current speed.
TRQ	Output	Axis current torque.
STEP	Output	Display step number of the current operation from the position data table.
MCD	Output	Display M code value.

The XPM_SRD reads axis state information.

Element Name	Element Type	Description
REQ	Input	Enable the function block. Data will be constantly updated with REQ = TRUE.
BASE	Input	Base number of the motion controller. Set 0 to the Base Number.
SLOT	Input	Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS	Input	Axis to command with function block. XBF-PN04B:1~4, XBF-PN08B:1~8
DONE	Output	Status that function block is done.
STAT	Output	Current status of the function block. Non-zero numbers will be an error or warning.
ST1	Output	Boolean array of state information. See XPM_SRD State Details for more details.
ST2	Output
ST3	Output
ST4	Output
ST5	Output
ST6	Output
ST7	Output

ST1:

Element Number	Description
0	Operating Status. 0 = Stop, 1 = Busy
1	0 = No Error, 1 = Error State
2	Positioning complete status
3	M code On signal 0 = off, 1 = on
4	Homed status 0 = not homed yet, 1 = home completed
5	0 = no common error, 1 = common error present
6	Stop status state
7	Reading/Writing variable data is active

ST2:

Element Number	Description
0	Upper Limit Detection
1	Lower Limit Detection
2	Emergency Stop status
3	Movement Direction. 0 = forward, 1 = reverse
4	In acceleration
5	In constant speed
6	In deceleration
7	In dwell

ST3:

Element Number	Description
0	Axis in positioning control state
1	Axis in speed control state
2	Axis in linear interpolation state
3	Not used
4	Axis in circular interpolation state
5	Axis in homing operation
6	Axis in synchronous position start operation
7	Axis in synchronous speed start operation

ST4:

Element Number	Description
0	Axis in jog operation
1	Not used
2	Axis in inching operation
3	Not used
4	Axis returning to position before manual operation
5	Axis in CAM control operation
6	Axis in Feed control operation
7	Axis in ellipse interpolation operation

ST5:

Element Number	Description
0	Axis number: XBF-PN04B:1~4, XBF-PN08B:1~8, 9: Encoder1
1
2
3
4	0 = Main Axis, 1 = Sub axis
5	Not used
6	Not used
7	0 = no read/write parameter active, 1 = processing servo read/write parameter

ST6:

Element Number	Description
0	Emergency Stop or Deceleration stop signal
1	Not used
2	Not used
3	Not used
4	Upper limit signal
5	Lower limit signal
6	Home signal
7	DOG signal

ST7:

Element Number	Description
0	External command signal
1	Servo on signal
2	Servo alarm signal
3	In position signal
4	In position signal
5	Declination counter clear output signal
6	Not used
7	0 = communication normal, 1 = communication error

This example shows using the XPM_CRD function block to read operation data for Axis 1. XPM_ECON must be executed successfully before enabling XPM_CRD.

This example shows using the XPM_SRD function block to read state data for Axis 1. XPM_ECON must be executed successfully before enabling XPM_CRD.