MC_CreatePLCAxis

 Function - Creates a PLCopen Axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	FALSE, TRUE	N/A	No default	When TRUE, requests to create a PLCopen axis.
AxisName	STRING	No range	N/A	No default	Axis name.
BusInterface	STRING	No range	N/A	No default	Bus interface identifier: EtherCATDriver = EtherCAT interface. MSBusDriver = KAS Simulator interface.
BusAddress	DINT	Bus dependent	N/A	No default	Address of the drive on the bus.
AxisNumber	UINT	1 to 256	N/A	No default	Axis number.
AxisType	USINT	Enumerated	N/A	No default	One of these enumeration values: USINT Type 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.
DriveAxisNumber	UINT	1 to 256	N/A	No default	This one-based number specifies the axis on the drive. For a single-axis drive this number should be 1.
UserUnits	DINT	1 to 2147483647	User units	No default	User unit portion of the user unit/feedback unit ratio.
FeedbackUnits	DINT	1 to 2147483647	Feedback units	No default	Feedback unit portion of the user unit/feedback unit ratio.
Rollover	LREAL	0 to 4294967296	User units	No default	Rollover position. 0 (zero) = no rollover.
UpdateRate	UINT	3 to 9	N/A	No default	Servo update rate. 0, 1, and 2 are reserved. 3 = 125 μsec 4 = 250 μsec 5 = 500 μsec 6 = 1 msec 7 = 2 msec 8 = 4 msec 9 = 8 msec

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	FALSE, TRUE	N/A	Indicates the axis has been created.

Figure 1: MC_CreatePLCAxis

Remarks

• See Function Blocks - General Rules about how inputs and outputs work.
• 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.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* MC_CreatePLCAxis ST 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);