Interfaces

I_BasicAxis

(extends I_CyclicFB)

Defines basic required functionality for a basic NC axis.

Tip

I_BasicAxis does not include any sort of coupling function. See FB_BasicSlaveAxis and FB_CamSlaveAxis for more information.

Properties

Property	Type	Access	Description
Axis	REFERENCE TO AXIS_REF	R	Returns an AXIS_REF for use in external motion functions, etc.
AxisParameters	REFERENCE TO ST_AxisParameterSet	R	Returns a reference to the axis' NC parameters
ExternalSequence	I_MotionSequence	RW	Assign a custom sequence for axis to perform
HomeMethod	I_MotionSequence	RW	Assign a custom homing method
ResetMethod	I_MotionSequence	RW	Assign a custom reset method
InhibitFeedPositive	BOOL	RW	When TRUE, motion in the positive direction is not allowed
InhibitFeedNegative	BOOL	RW	When TRUE, motion in the negative direction is not allowed
Override	LREAL	RW	Get/Set axis override (100.0 = 100%)

Dynamics

Property	Type	Access	Description
Acceleration	LREAL	RW	Get/Set acceleration input to motion functions
Deceleration	LREAL	RW	Get/Set deceleration input to motion functions
Jerk	LREAL	RW	Get/Set jerk input to motion functions
Velocity	LREAL	RW	Get/Set velocity input to motion functions (exception: MoveVelocity())

Feedback

Property	Type	Access	Description
ActualAcceleration	LREAL	R	Get actual acceleration of axis
ActualPosition	LREAL	R	Get actual position of axis
ActualPositionModulo	LREAL	R	Get actual modulo position of axis
ActualTorque	LREAL	R	Get actual torque of axis
ActualVelocity	LREAL	R	Get actual velocity of axis
PositionLag	LREAL	R	Get position lag of axis
SetAcceleration	LREAL	R	Get setpoint acceleration of axis
SetPosition	LREAL	R	Get setpoint position of axis
SetPositionModulo	LREAL	R	Get setpoint modulo position of axis
SetVelocity	LREAL	R	Get setpoint velocity of axis

Status

Property	Type	Access	Description
Enabled	BOOL	R	Axis is enabled
InPosition	BOOL	R	Axis is within target position window
Stopped	BOOL	R	Axis is not moving

Methods

Method	Return Type	Description
Disable	BOOL	Disable axis
Enable	BOOL	Enable axis
Home	BOOL	Home axis
Jog	BOOL	Jog axis
MoveAbsolute	BOOL	Initiate an absolute move
MoveModulo	BOOL	Initiate a modulo move
MoveRelative	BOOL	Initiate a relative move
MoveVelocity	BOOL	Initiate a continuous velocity move
ReadParameterSet	Bool	Reads parameter set for Axis, Parameter Set available in AxisParameters
Reset	BOOL	Reset axis
RunExternalSequence	BOOL	Executes function block assigned to ExternalSequence
WriteBoolParameter	BOOL	Write a parameter of type BOOL
WriteParameter	BOOL	Write a parameter of type LREAL

I_BasicSlaveAxis

(extends I_BasicAxis)

Defines basic required functionality for a basic NC axis plus gearing functions.

Properties

Property	Type	Access	Description
Master1	REFERENCE TO AXIS_REF	RW	Get/Set the first master axis to couple with
Master2	REFERENCE TO AXIS_REF	RW	Get/Set the second master axis to couple with
Master3	REFERENCE TO AXIS_REF	RW	Get/Set the third master axis to couple with
Master4	REFERENCE TO AXIS_REF	RW	Get/Set the fourth master axis to couple with
RatioMaster1	LREAL	RW	Get/Set the coupling ratio of the first master axis
RatioMaster2	LREAL	RW	Get/Set the coupling ratio of the second master axis
RatioMaster3	LREAL	RW	Get/Set the coupling ratio of the third master axis
RatioMaster4	LREAL	RW	Get/Set the coupling ratio of the fourth master axis
InGear	LREAL	R	Get coupling status of this axis

Methods

Method	Return Type	Description
GearIn	BOOL	Establish coupling with master axes
GearOut	BOOL	Release the coupling with master axes

I_CamSlaveAxis

(extends I_BasicAxis)

Defines basic required functionality for a basic NC axis plus camming functions.

Properties

Property	Type	Access	Description
Master	REFERENCE TO AXIS_REF	RW	Get/Set the master axis
CamParameters	REFERENCE TO ST_CamParameters	RW	Get/Set the parameter structure for cam definition, options, etc. MUST BE SET USING REF=
RunningTable	UDINT	RO	Returns the index within CamParameters.CamTable is currently running
SyncPos	LREAL	RO	Returns the slave position that corresponds to either the current master position (FindSyncPos()) or a specified master position (FindSlavePosition()), depending on which method was called
InSync	BOOL	RO	Get synchronization status of this axis

Methods

Method	Return Type	Description
ChangeMode	BOOL	Establish coupling with master axes
FindSlavePos	BOOL	Loads a cam table and reports the corresponding slave position (via SyncPos) when the master is at CamParameters.MasterPos
FindSyncPos	BOOL	Loads a cam table and reports the corresponding slave position (via SyncPos) according to the master's current position
StartCouple	BOOL	Couple the slave to the master without performing any sync move
StartSync	BOOL	Couple the slave to the master after performing an initial synchronization move to align the slave with the current master position
UpdateTable	BOOL	Online update of the current cam's point definitions

I_MotionSequence

(extends I_BaseFB)

Defines basic required functionality for external sequence of any sort.

Properties

Property	Type	Access	Description
Axis	I_BasicAxis	RW	Get/Set axis to be controlled by the sequence

Methods

Method	Return Type	Description
Execute	BOOL	Start the sequence