Table of Contents

AxisParameter

Namespace
ZEquipment
Implements

This function block is the first node to get access to all parameters of an axis which can be set or read througout this implementation.

In most cases there are three types of parameters available for each type of axis

  • Booting parameters: parameters which are usually set or read once at booting time of a plc such as motor parameters or drive serial number, drive type ,...
  • PLC parameters: parameters which can be changed at any time during operation of this program and are not set to a drive or motion controller instance. Examples are software limit for speed and position or scaling parameters
  • Drive parameters: These parameters are directly related to the drive of which the underlying implementation is made. For example when instantiating an AxisPlcOpenMc axis in your application, drive parameters are usually set in the motion controller, in this case NC-Motion from Beckhoff. If you have a function block instantiated for a stepper terminal, the drive parameters are representating those parameters
  • Simulation parameters: These set of parameters are only active if the axis is in simulation mode which can be activated by setting the Simulation:=TRUE.
FUNCTION_BLOCK ABSTRACT AxisParameter IMPLEMENTS ZEquipment.IAxisParameter

Properties

Plc 

PROPERTY Plc : IAxisParameterPlc

Property Value

IAxisParameterPlc

Simulation 

PROPERTY Simulation : IAxisParameterSimulation

Property Value

IAxisParameterSimulation

Methods

AddRequest

Requests a parameter read or write from the fieldbus-slave, in this particular case from the axis instance. This could be a PlcOpen Axis (e.g. NC-Motion) or a CiA402 drive like Keba Drive D3. The actual meaning of the parameters is implementation dependent. Current implementations are:

It is important to note that this request gets processed right before an axis-action like MoveAbsolute, MoveVelocity or MoveRelative gets started and not any time sooner. It no action is started, there wont be any parameter written or read.

If you want to have general access to the drives or motion controllers parameter its better to instantiate the proper parameter channel in your application on your on, run the cyclic method and initialize the axis-fieldbus slave.

METHOD AddRequest (
 taskToken : ZCore.ITaskToken,
 actionFlags : ZCore.ParameterChannelActionFlag,
 parameter1 : DWORD,
 parameter2 : DWORD,
 parameterType : INT,
 bufferPtr : ZCore.ZPointer,
 bufferSize : UDINT)

Inputs

taskToken ITaskToken

actionFlags ParameterChannelActionFlag

parameter1 DWORD

parameter2 DWORD

parameterType INT

bufferPtr ZPointer

bufferSize UDINT

SetChannel 

METHOD ABSTRACT SetChannel (
 channel : ZCore.IParameterChannel)

Inputs

channel IParameterChannel