Read per Axis Status Reads the motion status on a per-axis basis. Details     Remarks

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

	Board ID is a unique number assigned by Measurement & Automation Explorer (MAX) used to send and receive commands and data to or from a specific NI motion controller.
	Axis is the axis to read.
	Ret Vect indicates the destination for the return data generated by this VI. Available return vectors include return data to the host (0xFF), return data to a variable (0x01 through 0x78), return data to an indirect variable (0x81 through 0xF8), and do not return data (0). Refer to Input and Return Vectors for more detailed information.
	error in (no error) describes error conditions that occur before this VI runs. The default input of this cluster is no error. If an error already occurred, this VI returns the value of error in in error out. The VI runs normally only if no incoming error exists. Otherwise, the VI passes the error in value to error out. The error in cluster contains the following parameters: status is TRUE if an error occurred before this VI was called, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.
	Per Axis H/W Status is a cluster of motion status for the axis. If Run/Stop (0) is TRUE the axis is running. If it is FALSE the axis stopped. If Profile Complete (1) is TRUE the profile is complete. If it is FALSE profile generation is in process. If Motor Off (2) is TRUE the motor is off (killed). If it is FALSE the motor is on. If Following Error (3) is TRUE the axis exceeded the programmed following error limit. If it is FALSE the 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. If Limit Switch (4) is TRUE the forward or reverse limit input is active. If it is FALSE neither limit is active. If Home Switch (5) is TRUE the home input active is active. If it is FALSE the home input is not active. If SW Limit Switch (6) is TRUE the forward or reverse software limit is reached. If it is FALSE neither software limit is reached. If Watchdog (7) is TRUE a watchdog occurred. If it is FALSE a watchdog did not occur. If Velocity Threshold (8) is TRUE the velocity is above threshold. If it is FALSE the velocity is below threshold. If Position Brkpt (9) is TRUE a breakpoint occurred. If it is FALSE a breakpoint is pending or disabled. If Home Found (10) is TRUE home was found during last Find Home. If it is FALSE Find Home sequence is in process or home not found. If Index Found (11) is TRUE the encoder index was found during the last Find Index. If it is FALSE Find Index sequence is in process or index not found. If High Speed Capture (12) is TRUE high-speed capture occurred. If it is FALSE high-speed capture is pending. If Reverse Direction (13) is TRUE the axis is moving in the reverse direction. If it is FALSE the axis is moving in the forward direction. If Blend Complete (14) is TRUE blend is complete. If it is FALSE blend is pending. If Move Complete (15) is TRUE move is complete. If it is FALSE move is not complete.
	Bd ID Out is provided for flow control. You can string together NI-Motion VIs by wiring the Bd ID Out terminal of one VI to the Board ID terminal of the next VI.
	Resource Output is the Axis, Vector Space, ADC, or Encoder you wired into the VI. Use Resource Output to pass the resource to another VI and/or to display information about the device.
	error out contains error information. If error in indicates an error, error out contains the same error information. Otherwise, it describes the error status that this VI produces. status is TRUE if an error occurred, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.

Using This VI

The Read Per Axis Status VI returns the trajectory and motion I/O status for the specified axis. It also returns the success or failure status of the most recent Find Reference sequence.

Note  This VI returns undefined values for axes that are currently performing find reference moves.

Note  You also can read individual item status in a multi-axis format with NI-Motion VIs like Read Limit Status, Read Trajectory Status, and so on.

Remarks

This section includes information about how the behavior of this VI differs among the controllers that support it.

NI 73xx Controller Considerations

The following list includes considerations you must make when you are using this VI with a 73xx motion controller:

• In the Per Axis H/W Status bitmap, D7 Communication Watchdog (WD) is not supported by 73xx controllers.

NI SoftMotion Controller Considerations

The following list includes considerations you must make when you are using this VI with the NI SoftMotion Controller:

• When you are using the NI SoftMotion Controller with a device that supports multiple high-speed captures and breakpoints, the status for primary and secondary inputs is concatenated by a logical OR operation to populate Per Axis H/W Status.
• In the Per Axis H/W Status bitmap, Watchdog is used for a communication status watchdog on the NI SoftMotion Controller.