Table of Contents

ParameterChannelPlcOpenUM

Namespace
ZAux
Implements
FUNCTION_BLOCK ParameterChannelPlcOpenUM IMPLEMENTS ZCore.IParameterChannel, ZCore.IUnmanagedObject, ZCore.IObject, ZCore.IError

This ParameterChannel implementation allows to read and write parameters that are used by a motion controller. This specific implementation handles TwinCAT NcMotion parameters.

To use it in an application to access (read or write) NC-Motion parameters just instantiate it and provide the AxisId which is referenced in the AXIS_REF structure from your NC-Motion instance;

PROGRAM MAIN
VAR
  DateTime : ZAux.DateTimeUM;
  Logger : ZAux.LoggerFile7FFUM(datetime:=DateTime, filePath:='C:\temp\logfile.log', target:='');
  Step : ZCore.Step(0, 100);

  Axis1 : ZEquipment.AxisPlcOpenMcUM;
  Channel : ZAux.ParameterChannelPlcOpenUM(Axis1.AxisRef());
 
  value : LREAL;
END_VAR
-------------------------------------------------------
DateTime.Cyclic();
Logger.Cyclic();
Axis1.Cyclic();
Channel.Cyclic();

CASE Step.Index OF
  0: // wait until logger is ready (est. 2 cycles)
    IF Logger.Operational
    THEN
      Logger.Info('Appliation started');
      Step.SetNext(10);
    END_IF
   
  10: // initialize axis and channel
    Axis1.SetLogger(Logger);
    Axis1.SetName(name:='Axis1');
    Axis1.SetSimulation(FALSE);
   
    Channel.SetLogger(Logger);
    Channel.SetName('ChannelAxis1');
    Channel.SetTimeout(3.0);
    Channel.SetAxisReference(Axis1.AxisRef());
   
    Step.SetNext(20);
   
  20: // start read request to a parameter
    IF Step.OnEntry()
    THEN
      // read AxisAcc -> parameter1 = Index-Group (0x4000 + ID), ID can be ignored, will be filled automatically by channel
      //                 parameter2 = Index-Offset for AxisAcc Parameter
      Channel.RequestAsync(taskToken:=0, actionFlags:=ZCore.ParameterChannelActionFlag.Read,
                           parameter1:=16#4000, parameter2:=16#0000_0101, parameterType:=ZCore.ParameterChannelPlcOpenParameterType.Int32,
                           bufferPtr:=ADR(value), bufferSize:=SIZEOF(value));
    END_IF
   
    IF Channel.Error
    THEN
      Logger.Error(Channel.ErrorMessage());
    ELSIF NOT Channel.Busy
    THEN
      Step.SetNext(30);
		END_IF
   
  30: // ready for next test
    ;
 
END_CASE

Constructor

FB_init 

METHOD FB_init (
 [input] bInitRetains : BOOL,
 [input] bInCopyCode : BOOL,
 [input] axisRef : REFERENCE TO ZPlatform.PlcOpenAxisRef) : BOOL

Inputs

bInitRetains BOOL

if TRUE, the retain variables are initialized (warm start / cold start)

bInCopyCode BOOL

if TRUE, the instance afterwards gets moved into the copy code (online change)

axisRef REFERENCE TO PlcOpenAxisRef

Reference to the axis of the nc-motion instance in use; Depending on the platform the actual Reference may differ, for Beckhoff systems the AXIS_REF struct is used here

Returns

BOOL

Properties

Booted 

PROPERTY Booted : BOOL

Property Value

BOOL

Busy 

PROPERTY Busy : BOOL

Use State to find out if the object is busy executing its initialization phase, or it is busy performing an actual sequence.

Property Value

BOOL

Done 

PROPERTY Done : BOOL

If the object is in idle state (often mentioned as "the object is not busy and not on error"), this is indicated by this property returning TRUE.

Property Value

BOOL

Error 

PROPERTY Error : BOOL

Property Value

BOOL

Methods

Cyclic 

METHOD Cyclic ()

This method should be called every cycle to enable this class to operate. The method returns immediately if no task of the function block has been started (e.g. RequestAsync.

ErrorId 

METHOD ErrorId () : UDINT

Returns the error code of the first error source for this object. The method recursively goes down the error stack until the initial source of error of this object can be found. For performance reasons, the error stack is not cleared when the error state is reset. So this method should always used in conjunction with Error.

Returns

UDINT

ErrorMessage 

METHOD ErrorMessage () : ZCore.ZString

Returns the error description of the first error source for this object. The method recursively goes down the error stack until the initial source of error of this object can be found. For performance reasons, the error stack is not cleared when the error state is reset. So this method should always used in conjunction with Error.

Returns

ZString

ErrorSource 

METHOD ErrorSource () : ZCore.IError

This method returns the direct error source of this object. This method can then be used to retrieve the actual error source by using the method of the returned IError.

Returns

IError

RequestAsync 

METHOD RequestAsync (
 [input] taskToken : ZCore.ITaskToken,
 [input] actionFlags : ZCore.ParameterChannelActionFlag,
 [input] parameter1 : DWORD,
 [input] parameter2 : DWORD,
 [input] parameterType : INT,
 [input] bufferPtr : ZCore.ZPointer,
 [input] buffersize : UDINT)

Depending on the chosen actionFlag this method starts a Read or Write request.

Warning

If any request fails, all remaining requests are cleared from the internal buffer as well.

Inputs

taskToken ITaskToken
actionFlags ParameterChannelActionFlag

actions to be performed for the following parameter. This is a flags parameter (several actions are possible)

parameter1 DWORD

index group, the last 8bit of this number, which is the axisid, are ignored and handled internally

parameter2 DWORD

index offset

parameterType INT

see ParameterChannelPlcOpenParameterType

bufferPtr ZPointer

Pointer to the location this method writes to or reads from

buffersize UDINT

Size of the location buffer is pointing to

SetAxisReference 

METHOD SetAxisReference (
 [input] axisRef : REFERENCE TO ZPlatform.PlcOpenAxisRef)

If a ParameterChannelPlcOpen is used and one uses the same instance for different axes, SetAxisReference can be used to change the reference to the actual PlcOpen-Axis reference of an axis.

For Beckhoff systems a Reference to the AXIS_REF structure can be used. If a Zeugwerk-AxisPlcOpenMc instance is used the AXIS_REF-reference can be retrieved by calling the AxisRef()-method

See the example code provided at ParameterChannelPlcOpenUM

Inputs

axisRef REFERENCE TO PlcOpenAxisRef

Reference to the actual axis-reference of a PlcOpenAxis. For Beckhoff systems, provide a reference to the AXIS_REF structure

SetLogger 

METHOD SetLogger (
 [input] logger : ZCore.ILogger)

Use this function to enable logging for this parameter channel instance. If logging is enabled, every parameter request (Read and Write) is written to the logger.

If no Logging Instance is given here (logger=0), logging is generally deactivated.

Inputs

logger ILogger

SetName 

METHOD SetName (
 [input] name : ZCore.ZString)

This method can be used to give a name to the parameter channel instance, which is useful if logging is used.

Inputs

name ZString

Name of the ParameterChannel Instance, usually the name of the device which is connected on the Ethercat fieldbus

SetTimeout 

METHOD SetTimeout (
 [input] timeout : LREAL)

Sets the timeout values for the ADS-Requests. If reading or writing takes longer than this timeout, an error will be thrown and can be signaled with Error. If no user specific Timeout is set, the default Timeout set in DefaultTimeout is used. Especially for configurations with many configured axes this timeout should be increased to avoid running into it.

Inputs

timeout LREAL

Timeout as LREAL variable in seconds

TraceErrorStack 

METHOD TraceErrorStack (
 [input] trace : ZCore.IErrorTrace)

This method is used internally when recording an error trace.

Inputs

trace IErrorTrace