MC_CreatePLCAxis

 Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Creates a PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. Axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	0, 1	N/A	No default	Requests to create a PLCopen axis.
AxisName	STRING	No range	N/A	No default	Axis name.
BusInterface	STRING	No range	N/A	No default	Bus interface identifier: EtherCATDriver = EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. interface. MSBusDriver = KAS Kollmorgen Automation Suite Simulator interface.
BusAddress	DINT	Bus dependent	N/A	No default	Address of the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. on the bus.
AxisNumber	UINT	1, 256	N/A	No default	Axis number.
AxisType	USINT	0, 1	N/A	No default	USINT Type Description 0 MC_AXIS_TYPE_SERVO_STEPPER A Servo or Stepper axis can be mapped to a physical or simulated drive. Either a servo or stepper drive is supported. 1 MC_AXIS_TYPE_DIGITIZING A digital position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. input from a drive or other device. It is useful as an input for gearing, camming, etc. 2 MC_AXIS_TYPE_VIRTUAL A virtual axis cannot be mapped to a physical or simulated drive. It is useful for generating motion trajectory Time dependent description of the path the TCP of an axes group moves along. Additional to the geometrical description of the space curve, time dependent state variables like velocity, acceleration, jerk, forces etc. are specified. as an input for gearing, camming, etc.
DriveAxisNumber	UINT	1, 256	N/A	No default	This one-based number specifies the axis on the drive. For a single-axis drive this number should be 1.
UserUnits	DINT	1, 2147483647	User units	No default	User unit portion of the user unit/feedback unit ratio.
FeedbackUnits	DINT	1, 2147483647	Feedback units	No default	Feedback unit portion of the user unit/feedback unit ratio.
Rollover	LREAL	0, 4294967296	User units	No default	Rollover position. 0 (zero) = no rollover.
UpdateRate	UINT	3, 9	N/A	No default	Servo update rate. (0, 1, and 2 are reserved for future enhancements) 3 = 125 μsec 4 = 250 μsec 5 = 500 μsec 6 = 1 msec 7 = 2 msec 8 = 4 msec 9 = 8 msec

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	No range	N/A	Indicates the axis has been created.

Figure 1: MC_CreatePLCAxis

Remarks

• See Function Blocks - General Rules about how inputs and outputs work.
• A call to this function is automatically generated when the application is compiled, based on the data entered in the PLCopen Axis Data dialog.
• MC_CreateAxis must be called between MLMotionInit and MLMotionStart.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* MC_CreatePLCAxis ST Structured text - A high-level language that is block structured and syntactically resembles Pascal. Example *)
AxisName1         := 'PLCOpenAxis1';
BusName1          := 'EtherCATDriver';
BusAddress1       := 1001;
AxisNumber1       := 1;
AxisType1         := MC_AXIS_TYPE_SERVO_STEPPER;
DriveAxisNumber1  := 1;
UserUnits1        := 360;
FeedbackUnits1    := 1048576;
Rollover1         := 0;
UpdateRate1       := 3;
MC_CreateAxis(AxisName1, BusName1, BusAddress1, AxisNumber1, AxisType1, DriveAxisNumber1, UserUnits1, FeedbackUnits1, Rollover1, UpdateRate1);