FunctionMC_InitAxisPLCopen motion icon

Description

MC_InitAxis initializes a PLCopenClosedA 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.

MC_InitAxis

Figure 7-116: 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 bandwidthClosedIn 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 STClosed"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

MC_InitAxis: LD example

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