MC_SelectControlLoop

MC_SelectControlLoop 1:

The function block MC_SelectControlLoop is used to switch between control loops of an axis. The prerequisite is that two or more control loops have been created below the axis in the system configuration.

[See detailed description of the control loop switching]

MC_SelectControlLoop 2: Inputs

VAR_INPUT
Execute : BOOL;
EncoderIndex : UINT;
SelectType : E_SelectControlLoopType;
SyncValue : LREAL;
ExtSetPointGen : BOOL;
END_VAR

Name

Type

Description

Execute

BOOL

The command is executed with a rising edge.

EncoderIndex

UINT

The sequential number [0..9] of the axis control loop to be activated.

SelectType

E_SelectControlLoopType

Defines how the control loop switching is performed. Currently only applicable with the SelectControlLoopType_Standard value.

SyncValue

LREAL

Currently not applicable.

ExtSetPointGen

BOOL

Currently not applicable.

MC_SelectControlLoop 3: Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Name

Type

Description

Axis

AXIS_REF

Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

MC_SelectControlLoop 4: Outputs

VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR

Name

Type

Description

Done

BOOL

TRUE if the command was executed without errors.

Busy

BOOL

TRUE as soon as the command is started with Execute and as long as the command is processed. If "Busy" is FALSE, the function block is ready for a new order.

Error

BOOL

TRUE, if an error occurs.

ErrorID

UDINT

If the error output is set, this parameter supplies the error number.

Requirements

Development environment

Target platform

PLC libraries to include

TwinCAT v3.1.4024

PC or CX (x86)

Tc2_MC2