MC_CreatePLCAxis

Description

This function creates a PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML Axis. 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_CreateAxis must be called between MLMotionInit and MLMotionStart.

Figure 7-121: MC_CreatePLCAxis

Arguments

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

Input

En	Description	Requests to create a PLCopen axis
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
AxisName	Description	Axis name
	Data type	STRING
	Range	—
	Unit	N/A
	Default	—
BusInterface	Description	Bus interface identifier: “EtherCATDriver” = EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs interface “MSBusDriver” = KAS Simulator interface
	Data type	STRING
	Range	—
	Unit	N/A
	Default	—
BusAddress	Description	Address of the drive on the bus
	Data type	DINT
	Range	bus dependent
	Unit	N/A
	Default	—
AxisNumber	Description	Axis number
	Data type	UINT
	Range	[1,256]
	Unit	N/A
	Default	—
AxisType	Description	0 MC_AXIS_TYPE_SERVO_STEPPER A Servo or Stepper axis can be mapped to a physical or simulated drive. Either a servo or stepper drive is supported. 1 MC_AXIS_TYPE_DIGITIZING A digital position input from a drive or other device. It is useful as an input for gearing, camming, etc. 2 MC_AXIS_TYPE_VIRTUAL A virtual axis cannot be mapped to a physical or simulated drive. It is useful for generating motion trajectory as an input for gearing, camming, etc.
	Data type	USINT
	Range	[0,1]
	Unit	N/A
	Default	—
DriveAxisNumber	Description	This one-based number specifies the axis on the drive. For a single-axis drive this number should be 1.
	Data type	UINT
	Range	[1,256]
	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, 2147483647]
	Unit	Feedback units
	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	—

Output

OK	Description	Indicates the axis has been created See more details here.
	Data type	BOOL

Example

Structured Text

(* MC_CreatePLCAxis 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_STEPPER;
DriveAxisNumber1  := 1;
UserUnits1        := 360;
FeedbackUnits1    := 1048576;
Rollover1         := 0;
UpdateRate1       := 3;
MC_CreateAxis(AxisName1, BusName1, BusAddress1, AxisNumber1, AxisType1, DriveAxisNumber1, UserUnits1, FeedbackUnits1, Rollover1, UpdateRate1);

Function Block Diagram

Ladder Diagram

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