MC_CreateAxis
MC_CreateAxis
MC_CreateAxis must be called between MLMotionInit and MLMotionStart.
For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules
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En |
Description |
Requests to create a PLCopen axis |
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Data type |
BOOL |
|
|
Range |
0, 1 |
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Unit |
n/a |
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Default |
— |
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AxisName |
Description |
Axis name |
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Data type |
STRING |
|
|
Range |
— |
|
|
Unit |
n/a |
|
|
Default |
— |
|
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BusInterface |
Description |
Bus interface identifier: “MSBusDriver” = KAS Simulator interface |
|
Data type |
STRING |
|
|
Range |
— |
|
|
Unit |
n/a |
|
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Default |
— |
|
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BusAddress |
Description |
Address of the drive on the bus |
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Data type |
DINT |
|
|
Range |
bus dependent |
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|
Unit |
n/a |
|
|
Default |
— |
|
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AxisNumber |
Description |
Axis number |
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Data type |
UINT |
|
|
Range |
[1,256] |
|
|
Unit |
n/a |
|
|
Default |
— |
|
|
AxisType |
Description |
Axis type: 0 (MC_AXIS_TYPE_SERVO) denotes servo 1 (MC_AXIS_TYPE_DIGITIZING) denotes digitizing 2 (MC_AXIS_TYPE_VIRTUAL_SERVO) denotes virtual servo |
|
Data type |
USINT |
|
|
Range |
[0,1] |
|
|
Unit |
n/a |
|
|
Default |
— |
|
|
UserUnits |
Description |
User unit portion of the user unit/feedback unit ratio |
|
Data type |
DINT |
|
|
Range |
[1, 2147483647] |
|
|
Unit |
User unit |
|
|
Default |
— |
|
|
FeedbackUnits |
Description |
Feedback unit portion of the user unit/feedback unit ratio |
|
Data type |
DINT |
|
|
Range |
[1, 1073741824] |
|
|
Unit |
feedback units. Note: The FeedbackUnits input must be a power of 2. If input FeedbackUnits is not a power of two, the axis will not be created, and the OK output will be FALSE. |
|
|
Default |
— |
|
|
Rollover |
Description |
Rollover position (0 = no rollover) |
|
Data type |
LREAL |
|
|
Range |
[0, 4294967296] |
|
|
Unit |
User unit |
|
|
Default |
— |
|
|
UpdateRate |
Description |
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 |
|
Data type |
UINT |
|
|
Range |
[3,9] |
|
|
Unit |
n/a |
|
|
Default |
— |
|
OK |
Description |
Indicates the axis has been created See more details here |
|
Data type |
BOOL |
(* MC_CreateAxis 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;
UserUnits1 := 360;
FeedbackUnits1 := 1048576;
Rollover1 := 0;
UpdateRate1 := 3;
MC_CreateAxis(AxisName1, BusName1, BusAddress1, AxisNumber1, AxisType1, UserUnits1, FeedbackUnits1, Rollover1, UpdateRate1);
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