MC_InitAxis

Description

MC_InitAxis initializes a PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML Servo Axis' data. A call to this function is automatically generated when the application is compiled, based on the data entered in the PLCopen Axis Data dialog.

Figure 8-112: MC_InitAxis

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

En	Description	Request to initialize a PLCopen servo axis
	Data type	BOOL
	Range	0, 1
	Unit	n/a
	Default	—
AxisNumber	Description	Servo axis number
	Data type	UINT
	Range	[1,256]
	Unit	none
	Default	—
VelocityLimit	Description	Velocity limit
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
LowerLimit	Description	Lower position limit
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
UpperLimit	Description	Upper position limit
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
LimitControl	Description	Establishes how position limits are applied 0 = apply position limits 1 = ignore position limits 2 = ignore limits until referenced
	Data type	UINT
	Range	[0,2]
	Unit	n/a
	Default	—
PosErrorLimit	Description	Position error limit – when the Position Error (command position – actual position) exceeds this value, an E-stop is generated
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
InPositionBand	Description	In-position bandwidthIn computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz – when the axis actual position is within this distance from its programmed endpoint, the axis is considered “in position”
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

OK	Description	Indicates the initialization is complete See more details here
	Data type	BOOL

Example

Structured Text

(* MC_InitAxis ST"Structured text"
A high-level language that is block structured and syntactically resembles Pascal example *)
AxisNumber1    := 1;
VelocityLimit1 := 10000; (*User unit/second*)
LowerPosLimit1 := 0;
UpperPosLimit1 := 0;
LimitControl1  := 0; (* Ignore lower and upper pos limit*)
PosErrorLimit1 := 10; (*User unit*)
InPosBand1     := 0;
MC_InitAxis(AxisNumber1, VelocityLimit1, LowerPosLimit1, UpperPosLimit1, LimitControl1, PosErrorLimit1, InPosBand1);

Function Block Diagram

Ladder Diagram

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