ST_AxisParameterSet

This data type contains the entire parameter data set of an axis that can be read with the MC_ReadParameterSet function block.

Individual parameters that can be changed during runtime can be written with MC_WriteParameter. It is not possible to write back the parameter dataset as a whole.

The individual parameters are described in the NC ADS documentation.

TYPE ST_AxisParameterSet :
STRUCT
    (* AXIS: *)
    AxisId                      : DWORD;          (* 0x00000001 *)
    nAxisType                   : E_NcAxisType;   (* 0x00000003 *)
    sAxisName                   : STRING(31);     (* 0x00000002 *)
    fAxisCycleTime              : LREAL;          (* 0x00000004 *)
    bEnablePositionAreaControl  : WORD;           (* 0x0000000F *)
    fPositionAreaControlRange   : LREAL;          (* 0x00000010 *)
    bEnableMotionControl        : WORD;           (* 0x00000011 *)
    fMotionControlTime          : LREAL;          (* 0x00000012 *)
    bEnableLoop                 : WORD;           (* 0x00000013 *)
    fLoopDistance               : LREAL;          (* 0x00000014 *)
    bEnableTargetPosControl     : WORD;           (* 0x00000015 *)
    fTargetPosControlRange      : LREAL;          (* 0x00000016 *)
    fTargetPosControlTime       : LREAL;          (* 0x00000017 *)
    fVeloMaximum                : LREAL;          (* 0x00000027 *)
    fRefVeloSearch              : LREAL;          (* 0x00000006 *)
    fRefVeloSync                : LREAL;          (* 0x00000007 *)
    fVeloSlowManual             : LREAL;          (* 0x00000008 *)
    fVeloFastManual             : LREAL;          (* 0x00000009 *)
    fMotionControlRange         : LREAL;          (* 0x00000028 *)
    bEnablePEHTimeControl       : WORD;           (* 0x00000029 *)
    fPEHControlTime             : LREAL;          (* 0x0000002A *)
    bEnableBacklashCompensation : WORD;           (* 0x0000002B *)
    fBacklash                   : LREAL;          (* 0x0000002C *)
    sAmsNetId                   : T_AmsNetId;     (* 0x00000031 *)
    nPort                       : WORD;           (* 0x00000031 *)
    nChnNo                      : WORD;           (* 0x00000031 *)
    fAcceleration               : LREAL;          (* 0x00000101 *)
    fDeceleration               : LREAL;          (* 0x00000102 *)
    fJerk                       : LREAL;          (* 0x00000103 *)

    (* ENCODER: *)
    nEncId                      : DWORD;          (* 0x00010001 *)
    nEncType                    : E_NcEncoderType;(* 0x00010003 *)
    sEncName                    : STRING(31);     (* 0x00010002 *)
    fEncScaleFactorNumerator    : LREAL;          (* 0x00010023 *)
    fEncScaleFactorDenominator  : LREAL;          (* 0x00010024 *)
    fEncScaleFactor             : LREAL;          (* 0x00010006 *)
    fEncOffset                  : LREAL;          (* 0x00010007 *)
    bEncIsInverse               : WORD;           (* 0x00010008 *)
    fEncModuloFactor            : LREAL;          (* 0x00010009 *)
    nEncMode                    : DWORD;          (* 0x0001000A *)
    bEncEnableSoftEndMinControl : WORD;           (* 0x0001000B *)
    bEncEnableSoftEndMaxControl : WORD;           (* 0x0001000C *)
    fEncSoftEndMin              : LREAL;          (* 0x0001000D *)
    fEncSoftEndMax              : LREAL;          (* 0x0001000E *)
    nEncMaxIncrement            : DWORD;          (* 0x00010015 *)
    nEncRefSoftSyncMask         : DWORD;          (* 0x00010108 *)
    bEncEnablePosCorrection     : WORD;           (* 0x00010016 *)
    nEncReferenceSystem         : DWORD;          (* 0x00010019 *)
    fEncPosCorrectionFilterTime : LREAL;          (* 0x00010017 *)
    bEncRefSearchInverse        : UINT;           (* 0x00010101 *)
    bEncRefSyncInverse          : UINT;           (* 0x00010102 *)
    nEncRefMode                 : UDINT;          (* 0x00010107 *)
    fEncRefPosition             : LREAL;          (* 0x00010103 *)

    (* CONTROLLER: *)
    nCtrlId                     : DWORD;        (* 0x00020001 *)
    nCtrlType                   : DWORD;        (* 0x00020003 *)
    sCtrlName                   : STRING(31);   (* 0x00020002 *)
    bCtrlEnablePosDiffControl   : WORD;         (* 0x00020010 *)
    bCtrlEnableVeloDiffControl  : WORD;         (* 0x00020011 *)
    fCtrlPosDiffMax             : LREAL;        (* 0x00020012 *)
    fCtrlPosDiffMaxTime         : LREAL;        (* 0x00020013 *)
    fCtrlPosKp                  : LREAL;        (* 0x00020102 *)
    fCtrlPosTn                  : LREAL;        (* 0x00020103 *)
    fCtrlPosTv                  : LREAL;        (* 0x00020104 *)
    fCtrlPosTd                  : LREAL;        (* 0x00020105 *)
    fCtrlPosExtKp               : LREAL;        (* 0x00020106 *)
    fCtrlPosExtVelo             : LREAL;        (* 0x00020107 *)
    fCtrlAccKa                  : LREAL;        (* 0x00020108 *)

    (* DRIVE: *)
    nDriveId                    : DWORD;        (* 0x00030001 *)
    nDriveType                  : E_NcDriveType;(* 0x00030003 *)
    sDriveName                  : STRING(31);   (* 0x00030002 *)
    bDriveIsInverse             : WORD;         (* 0x00030006 *)
    nDriveControlDWord          : DWORD;        (* 0x00030010 *)
    fDriveVeloReferenz          : LREAL;        (* 0x00030101 *)
    fDriveOutputReferenz        : LREAL;        (* 0x00030102 *)
    fDriveOutputScalingAcc      : LREAL;        (* 0x0003000A *)
    fDriveOutputScalingTorque   : LREAL;        (* 0x0003000B *)
    fDriveInputScalingTorque    : LREAL;        (* 0x00030031 *)
    fDriveInputFiltertimeTorque : LREAL;        (* 0x00030032 *)
    fDriveInputFiltertimeTorqueDerivative: LREAL;(* 0x00030033 *)

    fAccelerationMax            : LREAL;        (* 0x000300F1 *)
    fDecelerationMax            : LREAL;        (* 0x000300F2 *)
END_STRUCT
END_TYPE