Allen-Bradley Micro800 General Instructions Manual page 444

Chapter 17
Motion control instructions
Parameter
Axis_ID
Error Flag
ConstVel
AccFlag
DecelFlag
AxisState
ErrorID
ExtraData
ActualPos
ActualVel
Important: Once a Feedback Axis is flagged with an error, and the error ID is not zero, the FBAxis must be reset using MC_Reset before issuing any other movement
function block.
444
FB_AXIS_REF data type
The FB_AXIS_REF data type is a data structure that contains information for a
Motion Feedback Axis. It is used as an input and output variable in motion
control function blocks. An instance of an FB_AXIS_REF data type is
automatically created when you add a HSC module and the mode is configured as
Feedback Axis mode.
Data type Description
FB_AXIS_REF The logic axis ID automatically assigned by Connected Components Workbench. It cannot be edited or viewed by
user.
BOOL Indicates whether an error is present in the Feedback Axis.
BOOL Indicates whether the Feedback Axis is in Constant Velocity movement or not. Stationary axis is not considered
in Constant Velocity.
BOOL Indicates whether the Feedback Axis is in an Accelerating movement or not.
BOOL Indicates whether the Feedback Axis is in an Decelerating movement or not.
USINT Indicates the current state of the Feedback Axis.
UINT Indicates the cause for axis error when error is indicated by ErrorFlag. This error usually results from motion
control function block execution failure.
UINT Reserved.
REAL Actual mechanical position read back from Motion feedback channel (HSC).
REAL Actual mechanical velocity read back from Motion feedback channel (HSC).
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015