L_MC1P_AxisBasicControl

The following basic functions are available for the setup or the continuous motion of an axis:

MoveVelocity (endless traversing at a defined velocity)

In addition, the FB can be used to display the status and error messages, and to reset an error.

		L_MC1P_AxisBasicControl
AXIS_REF	-	Axis	xInternalControlActive	-	BOOL
BOOL	-	xEnableInternalControl	xError	-	BOOL
BOOL	-	xRegulatorOn	eErrorID	-	L_IE1P_Error
BOOL	-	xResetError	xFuncBusy	-	BOOL
BOOL	-	xEnablePositive	xFunDone	-	BOOL
BOOL	-	xEnableNegative	xFunCommandAborted	-	BOOL
BOOL	-	xDisableSWLimit	eFunStateAct	-	L_MC1P_ABC_State
LREAL	-	lrOverride	eControlMode	-	L_MC1P_ControlMode
LREAL	-	lrOverrideJerk	xIsHomed	-	BOOL
LREAL	-	lrOverrideAcc	xHwLimitSwitchNeg	-	BOOL
BOOL	-	xStop	xHwLimitSwitchPos	-	BOOL
LREAL	-	lrStopDec	xSwLimitEnabled	-	BOOL
LREAL	-	lrStopJerk	xSwLimitSwitchNeg	-	BOOL
BOOL	-	xHalt	xSwLimitSwitchPos	-	BOOL
BOOL	-	xJoggingPos	eAxisType	-	L_MC1P_DriveType
BOOL	-	xJoggingNeg	eAxisState	-	L_MC1P_AXIS_STATE
LREAL	-	lrJoggingSetVel	xAxisAvailable	-	BOOL
LREAL	-	lrJoggingSetAcc	xAxisReady	-	BOOL
LREAL	-	lrJoggingSetDec	xAxisEnabled	-	BOOL
LREAL	-	lrJoggingSetJerk	xAxisWarning	-	BOOL
BOOL	-	xContinuousUpdate	xAxisError	-	BOOL
BOOL	-	xMoveVelExecute	eAxisErrorID	-	L_IE1P_Error
BOOL	-	xMoveAbsExecute	xDriveWarning	-	BOOL
BOOL	-	xMoveRelExecute	xDriveError	-	BOOL
LREAL	-	lrSetPos_Dist	dwDriveErrorID	-	DWORD
LREAL	-	lrSetVel	lrActPos	-	LREAL
LREAL	-	lrSetAcc	lrActVel	-	LREAL
LREAL	-	lrSetDec	lrSetPosOut	-	LREAL
LREAL	-	lrSetJerk	lrSetVelOut	-	LREAL
MC_DIRECTION	-	eSetDirection	lrActFollowingError	-	LREAL
BOOL	-	xHomeExecute	xConstantVelocity	-	BOOL
LREAL	-	lrHomePosition	xAccelerating	-	BOOL
BOOL	-	xUseHomeExtParameter	xDecelerating	-	BOOL
L_MC1P_HomeParameter	-	scHomeExtParameter	xDirectionPositive	-	BOOL
MC_TRIGGER_REF	-	scHomeExtTP	xDirectionNegative	-	BOOL
BOOL	-	xHomeAbsSwitch	xInPosition	-	BOOL
			xStandstillSetVelocity	-	BOOL
			xStandstillActVelocity	-	BOOL
			xAxisReadyToSwitchOn	-	BOOL
			xAxisReadyForMotion	-	BOOL

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
xEnableInternalControl BOOL	TRUE	The internal control of the axis can be selected via the "Internal Control" button (button is visible in the visualisation).
xRegulatorOn BOOL	TRUE	Controller enable of the axis (via FB MC_Power). This input sets all enablings.
xResetError BOOL	FALSE ä TRUE	Reset axis error or software error.
xEnablePositive BOOL	TRUE	Enable traversing to positive direction.
xEnableNegative BOOL	TRUE	Enable traversing to negative direction.
xDisableSWLimit BOOL	TRUE	Deactivate software limit positions. This input overrides the setting configured in the axis (subindex 50 ) and deactivates the software limit position monitoring.
xDisableSWLimit BOOL	FALSE	The setting of the axis is effective.
lrOverride LREAL	Factor for global override of velocity Value range: 0 ... 1.0 Values lower than the value range are mapped to the smallest value. Values higher than the value range are mapped to 1.0. Initial value: 1.0 º 100 %
lrOverrideJerk LREAL	Factor for global override of the jerk Value range: 0.01 ... 1.0 Values lower than the value range are mapped to the smallest value. Values higher than the value range are mapped to 1.0. Changing the override during an active movement can cause a reversal. Initial value: 1.0 º 100 %
lrOverrideAcc LREAL	Factor for global override of acceleration Value range: 0.01 ... 1.0 Values lower than the value range are mapped to the smallest value. Values higher than the value range are mapped to 1.0. Changing the override during an active movement can cause a reversal. Initial value: 1.0 º 100 %
xStop BOOL	FALSE ä TRUE	Abort active motion and lead axis to standstill. A changeover to the "stopping" axis state takes place. For ramping down the axis, the profile parameters lrStopDec and lrStopJerk are used.
lrStopDec LREAL	TRUE	Deceleration for a motion aborted by the xStop input
lrStopJerk LREAL	TRUE	Jerk for a motion aborted by the xStop input
xHalt BOOL	FALSE ä TRUE	Abort active motion and lead axis to standstill. For ramping down the axis, the profile parameters lrSetDec and lrSetJerk are used
The inputs of the different operating modes are described in the corresponding subsection.

Outputs

Name Data type	Value/meaning
xInternalControlActive BOOL	TRUE	The control is activated via the visualisation. (The input xEnableInternalControl is TRUE.)
xError BOOL	TRUE	During the processing of the FB, an error has occurred. For details see eErrorID . For output or display of all errors occurred in the axis see xAxisError or eAxisErrorID .
eErrorID L_IE1P_Error	If xError = TRUE: Error number for the error that has occurred within the FB. Note: A distinction is made between FB errors ( eErrorID ) AxisRef errors ( eAxisErrorID ) Drive errors ( dwDriveErrorID )
xFuncBusy BOOL	TRUE	Processing of the activated function running.
xFunDone BOOL	TRUE	Execution of the activated function completed successfully. Special case: When using function MC_MoveVelocity , signal xFunDone is permanently set to TRUE if the assigned target speed has been reached. The state does not change back to FALSE until function MoveVelocity is cancelled or a new target speed is specified.
xFunCommandAborted BOOL	TRUE	The activated function has been aborted by another FB.
eFunStateAct L_MC1P_ABC_State	Current state of the FB:
	0	Standby The axis is in the "Standstill" or "Disabled" axis state.
	1	Stop, The axis is in the "Errorstop" axis state. Resetting the error results in an automatic changeover to "Standby".
	2	Homing (referencing)
	3	Manual jog (jogging)
	4	MoveVelocity (endless traversing at a defined velocity)
	5	MoveAbsolute (absolute positioning)
	6	MoveRelative (relative positioning)
	7	External A function outside the FB L_MC1P_AxisBasicControl generates setpoints for the connected axis (e.g. MC_CamIn).
eControlMode L_MC1P_ControlModeSet	Current control mode of the axis:
	0	PosCtrlDrive
	1	PosCtrlPLC
	10	SpeedCtrl
	20	TorqueCtrl
xIsHomed BOOL	TRUE	The axis has been referenced ("Reference known"). xIsHomed must only be evaluated if the xAxisAvailable status is reported.
xHwLimitSwitchNeg BOOL	TRUE	Negative travel range limit switch is active.
xHwLimitSwitchPos BOOL	TRUE	Positive travel range limit switch is active.
xSwLimitEnabled BOOL	TRUE	Monitoring of the software limit positions is activated.
xSwLimitSwitchNeg BOOL	TRUE	Negative software limit position exceeded.
xSwLimitSwitchPos BOOL	TRUE	Positive software limit position exceeded.
eAxisType L_MC1P_DriveType	Connected type of axis:
	0	Virtual (virtual axis)
	1	HL9400 (Servo Drives 9400 HighLine)
	2	i700 (Servo Inverter i700)
	3	Encoder
eAxisState L_MC1P_AXIS_STATE	Current PLCopen state of the axis:
	0	Init
	1	ErrorStop
	2	Disabled
	3	StandStill
	4	Stop
	5	DiscMotion
	6	SyncMotion
	7	ContMotion
	8	Homing
	Axis states (state diagram)
xAxisAvailable BOOL	TRUE	The axis can be used in the application, i.e. the initialisation has been completed correctly: Valid actual values and the communication with the lower-level drive are available.
xAxisReady BOOL	TRUE	Axis is ready for operation.
xAxisEnabled BOOL	TRUE	Axis is enabled.
xAxisError BOOL	TRUE	The output is TRUE in case of error in the axis data or error of a connected FB or error messages of the FB at the eErrorID output.
xAxisWarning BOOL	TRUE	There is a warning in the axis data or in a connected function block.
eAxisErrorID L_IE1P_Error	If xAxisError = TRUE or xAxisWarning = TRUE: Error number for the occurring error in the axis data or other connected FBs. Note: A distinction is made between FB errors ( eErrorID ) AxisRef errors ( eAxisErrorID ) Drive errors ( dwDriveErrorID )
xDriveWarning BOOL	TRUE	There is a warning in the inverter.
xDriveError BOOL	TRUE	There is an error in the inverter.
dwDriveErrorID DWORD	If xDriveError = TRUE or xDriveWarning = TRUE: Error number for the occurring error in the inverter. Note: A distinction is made between FB errors ( eErrorID ) AxisRef errors ( eAxisErrorID ) Drive errors ( dwDriveErrorID )
xStandstillSetVelocity BOOL	TRUE	Setpoint speed = 0
xStandstillActVelocity BOOL	TRUE	Actual speed within the window parameterised in subindex 132
xAxisReadyToSwitchOn BOOL	TRUE	Axis can be enabled (no inverter error, no STO active, DC bus available)
xAxisReadyForMotion BOOL	TRUE	A motion task can be started, i.e. the axis is enabled and fault-free.
The outputs of the different operating modes are described in the corresponding subsection.

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