FB_SetPositionOffset

The FB_SetPositionOffset function block can be used to store a position offset in the memory of a Beckhoff servo hardware. Saving in the digital nameplate of the connected motor encoder is also possible. To do this, the offset must first be configured with the DriveManager and then the same memory location (encoder / drive) must be used in the function block.

Supported Beckhoff hardware
AX5xxx	AX8xxx / AMP8xxx / MD8xxx	Compact drive technology (servo)
from FW v2.11 b0001	from FW v1.04 b0001	from FW v01 (AMI8xxx only Drive)

Inputs

VAR_INPUT
   Execute  :  BOOL;
   Position :  LREAL;
   Relative :  BOOL;
   Feedback :  E_PositionOffsetFeedback;
   Memory   :  E_PositionOffsetMemory;
END_VAR

Name	Type	Description
Execute	BOOL	The function block is enabled via a positive edge at this input.
Position	LREAL	New actual position of the NC axis
Relative	BOOL	When this flag is set, the position is interpreted relatively.
Feedback	E_PositionOffsetFeedback	Specifies which feedback is considered.
Memory	E_PositionOffsetMemory	Specifies which memory the newly calculated position offset should be stored in.

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

Name	Type	Description
Busy	BOOL	This output is set when the function block is activated, and remains set until a feedback is received.
Error	BOOL	This output is set after the Busy output has been reset when an error occurs in the transmission of the command.
ErrorID	UDINT	In the event of a set error output returns the ADS error code.

Requirements

Development environment	Target platform type	PLC library
TwinCAT ≥4024.48	PC or CX (x86 or x64)	Tc2_MC2_Drive ≥V3.3.34.0