Function Block
A function block groups an algorithm and a set of private data.
It has inputs and outputs. - Turns off registration for the specified axis and disarms the specified fast input The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond).
Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system.
To fill the gap, a drive may have some Fast Input connections (generally one or two).
When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster.
This can be 1000 times more accurate than the system periodicity.
The timestamp associated with this input can be provided to the IPC to take corrective action..
Inputs
|
Input |
Data Type |
Range |
Unit |
Default |
Description |
|---|---|---|---|---|---|
|
En |
BOOL |
FALSE, TRUE |
N/A |
No default |
|
|
Axis |
AXIS_REF |
1, 256 |
N/A |
N/A |
Axis registration to turn off. |
|
TriggerInput |
TRIGGER_REF |
See Description. |
N/A |
No default |
Structure specifying the fast input. (to disarm) The structure elements are: Direction Range = 1, 5.
InputID INT Range = 0, 1
TrigidINT Range = 0, 256.
|
Outputs
|
Output |
Data Type |
Range |
Unit |
Description |
|---|---|---|---|---|
|
OK |
BOOL |
FALSE, TRUE |
N/A |
Execution successful. |
Remarks
-
-
This function or function block returns cached data.
See Program a Multi-Core Controller.
-
-
To use Capture Engine 1, modify the input PDOs that are used and add the Latch
The control word is used to activate the drive's latch status machine.
The latch control word is processed independently of the EtherCAT® bus cycle.
The status word is used to return the drive's latch status. 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. 1 parameter.
Figure 1: MC_StopRegist
FBD Language Example
FFLD Language Example
IL Language Example
Not available.
ST Language Example
StopOK := MC_StopRegist( Axis1, Trig1);
See Also
