nimcReadAllAxisStatus

Device Compatibility Device Compatibility 7330 N 7340 N 7344 N 7350 Y 7390 Y NI SoftMotion Controller for CANopen—Xenus N NI SoftMotion Controller for CANopen—Accelnet N

Read All Axis Status

Usage

status = nimcReadAllAxisStatus(TnimcDeviceHandle deviceHandle, TnimcAxisHandle axisHandle, TnimcAxisStatus* data);

Purpose

Reads the execution status of the selected axis.

Parameters

Name	Type	Description
deviceHandle	TnimcDeviceHandle	assigned by Measurement & Automation Explorer (MAX)
axisHandle	TnimcAxisHandle	axis to read
data	TnimcAllAxisStatus*	the data record containing axis execution information

Parameter Discussion

axisHandle is the axis to read with this function. Valid values are 1 through 30. On motion controllers that support fewer than thirty axes, reading non-existent axes returns error –70006 (NIMC_badResourceIDOrAxisError).

data is the data record containing axis execution information in the following structure:

struct {
   u32 size;
   u8 axisActive;
   u8 moveComplete;
   u8 profileComplete;
   u8 blendComplete;
   u8 followingErrorExceeded;
   u8 velocityThresholdExceeded;
   u8 moving;
   u8 directionForward;
   u8 indexCaptureOccurred;
   u8 positionCaptureOccurred;
   u8 positionCompareOccurred;
   u8 forwardLimitActive;
   u8 reverseLimitActive;
   u8 forwardSoftwareLimitActive;
   u8 reverseSoftwareLimitActive;
   u8 homeInputActive;
   u8 homeFound;
   u8 indexFound;
   u8 referenceFound;
} TnimcAllAxisStatus;

Using This Function

Use this function to read the execution status of the selected axis.

Caution  If this function uses reflective memory, it should not be used for event checking. In this case, only use the information returned by this function for display purposes. Refer to Reflective Memory Functions for more information.

Note  Refer to Function Execution Times for benchmark timing information about your controller.

The TnimcAllAxisStatus structure will return TnimcTrue or TnimcFalse based on the following criteria:

Element	Status
axisActive	TnimcTrue = motor is on TnimcFalse = motor is off
moveComplete	TnimcTrue = move complete TnimcFalse = move not complete
profileComplete	TnimcTrue = profile is complete TnimcFalse = profile generation in process
blendComplete	TnimcTrue = blend complete TnimcFalse = blend pending
followingErrorExceeded	TnimcTrue = axis exceeded the programmed following error limit TnimcFalse = axis following error is below the programmed following error limit Note  If you are running a contoured move or slave axis move with a stepper axis, it is possible that the contour velocity or the slave axis geared velocity exceeds the maximum step rate of the controller. In this case, the controller kills the axis and sets the following error status to true. Refer to the Specifications section of your controller user manual for the maximum step rate of your controller.
velocityThresholdExceeded	TnimcTrue = axis velocity is above the programmed velocity threshold TnimcFalse = axis velocity is below the programmed velocity threshold
moving	TnimcTrue = axis is moving TnimcFalse = axis is stopped
directionForward	TnimcTrue = axis moving forward TnimcFalse = axis moving in reverse
indexCaptureOccurred	TnimcTrue = encoder index position capture occurred TnimcFalse = encoder index position not captured
positionCaptureOccurred	TnimcTrue = position capture (trigger) occurred TnimcFalse = position capture (trigger) pending or disabled
positionCompareOccurred	TnimcTrue = position compare (breakpoint) occurred TnimcFalse = position compare (breakpoint) pending or disabled
forwardLimitActive	TnimcTrue = forward limit active TnimcFalse = forward limit inactive
reverseLimitActive	TnimcTrue = reverse limit active TnimcFalse = reverse limit inactive
forwardSoftwareLimitActive	TnimcTrue = forward software limit active TnimcFalse = forward software limit inactive
reverseSoftwareLimitActive	TnimcTrue = reverse software limit active TnimcFalse = reverse software limit inactive
homeInputActive	TnimcTrue = home input active TnimcFalse = home input inactive
homeFound	TnimcTrue = home position found TnimcFalse = home position not found
indexFound	TnimcTrue = index position found TnimcFalse = index position not found
referenceFound	TnimcTrue = reference position found TnimcFalse = reference position not found

Example

To call this function on axis 2, use the following syntax:

TnimcAllAxisStatus data;
data.size = sizeof(TnimcAllAxisStatus);
nimcReadAllAxisStatus(boardID, 2, &data);

Note  You must specify the value for the size element of data before calling this function. If you do not properly set the size element, the function will return error –70023 (NIMC_parameterValueError).