MC_InitAxisFeedback

 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. - Initializes a PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. digitizing Axis' 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. data.

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	0, 1	N/A	No default	Request to Initialize a PLCopen Digitizing Axis. This input is only applicable to FFLD programs The act of performing a sequence of instructions or commands..
AxisNumber	UINT	1, 256	N/A	No default	Digitizing Axis number.
FeedbackPDOIndex	UINT	0, 65536	N/A	No default	The object Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. through which the feedback data is sent.
FeedbackPDOSubIndex	UINT	0, 255	N/A	No default	The sub index of the object through which the feedback data is sent to the controller.
FeedbackDataResolution	UINT	1, 32	N/A	No default	The resolution The resolution is the smallest possible movement that can be achieved by a system. It can be defined at the electronics, encoder and mechanics level. The distance a stage can be commanded to move in a single step. For servo systems, the basic increment produced by its optical encoder, or any other feedback device. of the Encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders..

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	No range	N/A	Indicates the initialization is complete. This output is only applicable to FFLD programs. See Pipe Network - General Rules.
ErrorID	DINT	No range	N/A	Indicates if the call failed or succeeded. If the call succeeds, this is set to 0 (zero).

Remarks

• A call to this function is automatically generated when the application is compiled.
  • This call is based on the data entered in the PLCopen Axis Data dialog.

Figure 1: MC_InitAxisFeedback

FBD Language Example

FFLD Language Example

Not available.

IL Language Example

Not available.

ST Language Example

(* MC_InitAxisFeedback ST Structured text - A high-level language that is block structured and syntactically resembles Pascal. example *)
// Initialize the digitizing Axis (Axis #3) with the Feedback object 0x60E4 subIndex 2.
Encoder resolution is 25bits.
ErrID := MC_InitAxisFeedback(3, 16#60E4, 16#02, 25);