IAxisPlcOpenMcParameter

Namespace

ZEquipment

This function block is used to set parameters for the AxisPlcOpenMc instance and the corresponding motion controller. There are different types of parameter as described here and the axis-type depended parameter object here is used to set the motion controller parameter (e.g. TwinCATs Nc-Motion).

INTERFACE IAxisPlcOpenMcParameter

Properties

Booting

PROPERTY Booting : IAxisPlcOpenMcParameterBooting

Property Value

IAxisPlcOpenMcParameterBooting

Drive

PROPERTY Drive : IAxisPlcOpenMcParameterDrive

Property Value

IAxisPlcOpenMcParameterDrive

Plc

PROPERTY Plc : IAxisParameterPlc

Property Value

IAxisParameterPlc

Simulation

PROPERTY Simulation : IAxisParameterSimulation

Property Value

IAxisParameterSimulation

Target

PROPERTY Target : IAxisPlcOpenMcParameterTarget

Property Value

IAxisPlcOpenMcParameterTarget

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:

• ParameterChannelCanUM
• ParameterChannelScpUM
• ParameterChannelPlcOpenUM

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

external instantiated TaskToken object can be given to get a signal if a specific request is done

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