AxisStatus

The state of an axis.

Name	Type	Meaning
State	AxisState	The state of an axis.
Motion	McMotionState	The motion state of an axis.
Direction	McDirection	The direction an axis moves.
HomeAbsSwitch	BOOL	The digital home switch input is active.
LimitSwitchPositive	BOOL	The positive hardware limit switch is active.
LimitSwitchNegative	BOOL	The negative hardware limit switch is active.
Simulation	BOOL	The axis is in simulation mode. For example, a motor is simulated.
CommunicationReady	BOOL	The EtherCAT network is initialized and ready for communication.
ReadyForPowerOn	BOOL	The axis is ready to be enabled (power on).
PowerOn	BOOL	The axis is powered on.
IsHomed	BOOL	The axis is homed.
Warning	BOOL	A warning occurs on the axis.
PowerOnPositive	BOOL	Moves in the positive direction are enabled in a power command.
PowerOnNegative	BOOL	Moves in the negative direction are enabled in a power command.
MotionError	WORD	An axis error value that is only available when the axis is in axisMotionError state (AxisState).
PositionActualValue	double	The actual position.
PositionSecondValue	double	The internal position.
PositionSetValue	double	The set position.
PositionCommandValue	double	The commanded position.
VelocityActualValue	double	The actual velocity.
VelocitySetValue	double	The set velocity.
TorqueActualValue	double	The actual torque.
TorqueSetValue	double	The set torque.
FollowingError	double	The following error.
ActualCurrent	double	The actual current.
DigitalInputs	DWORD	The value of the digital inputs variable of an axis.
DigitalOutputs	DWORD	The value of the digital outputs variable of an axis.