FB_AX2000_AXACT

The FB_AX2000_AXACT function block is used to start axis actions (must always be called cyclically).

Inputs

VAR_INPUT
    iVelocity          : DWORD;(*Velocity*)
    iPosition          : DINT;(*Position*)
    imotion_tasknumber : WORD;(*number of EEPROM-saved motion-task*)
    imotion_blocktype  : WORD;(*optional Parameters of motion tasks*)
    bStart             : BOOL;(*START*)
    bStop              : BOOL;(*STOP*)
    bShortStop         : BOOL;(*1: break of motion task, 0: continue same motion task*)
    bErrorResume       : BOOL;(*Error resume*)
    tTimeOut           : TIME := DEFAULT_ADS_TIMEOUT;
END_VAR

Name	Type	Description
iVelocity	DWORD	The parameter contains the required velocity for a subsequent motion command, e.g. µm/s.
iPosition	DINT	Target position in physical magnitudes, e.g. µm, degrees.
imotion_tasknumber	WORD	Motion block number. This input can be used to select a motion block previously stored in the drive's memory.
imotion_blocktype	WORD	Motion block type (optional). This input can be used to modify properties of a direct motion command.
bStart	BOOL	A start command is sent to the axis with a positive edge at this Boolean input.
bStop	BOOL	A stop command is sent to the axis with a positive edge at this Boolean input. The axle stops and goes into the “disabled” state.
bShortStop	BOOL	A stop command is sent to the axis with a positive edge at this Boolean input. The axle stops, but remains in the “enabled” state.
bErrorResume	BOOL	An “AX200X error” is reset with a positive edge at this Boolean input (no TimeOut error).
tTimeOut	BOOL	Maximum time allowed for the execution of the command.

Inputs/outputs

VAR_IN_OUT
    stPZDIN    : ST_PZD_IN;
    stPZDOUT   : ST_PZD_OUT;
END_VAR

Name	Type	Description
stPZDIN	ST_PZD_IN	Data words from the drive to the PLC.
stPZDOUT	ST_PZD_OUT	Data words from the PLC to the drive.

Outputs

VAR_OUTPUT
    bBusy       : BOOL;
    bError      : BOOL;(*Errorstatus of Servo*)
    bTimeOutErr : BOOL;
END_VAR

Name	Type	Description
bBusy	BOOL	This output remains TRUE until the function block has executed a command. While Busy = TRUE, no new command will be accepted at the inputs. Note that it is not the execution of the service that is monitored in terms of time, but only its acceptance.
bError	BOOL	This output shows the error state.
bTimeOutErr	BOOL	TimeOut error

Requirements

Development environment	Target platform	IO hardware	PLC libraries to be integrated (category group)
TwinCAT v3.1.0	PC or CX (x86)	AX2000 Profibus box	Tc2_IoFunctions (IO)