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]

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.

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.

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