1. TwinCAT PLC Lib: TcMC
2. Data types
3. MC_AxisPara

MC_AxisPara

TYPE MC_AxisPara : (
(* PLCopen specific parameters *)
   CommandedPosition := 1,   (* lreal *)
   SWLimitPos,               (* lreal *)
   SWLimitNeg,               (* lreal *)
   EnableLimitPos,           (* bool *)
   EnableLimitNeg,           (* bool *)
   EnablePosLagMonitoring,   (* bool *)
   MaxPositionLag,           (* lreal *)
   MaxVelocitySystem,        (* lreal *)
   MaxVelocityAppl,          (* lreal *)
   ActualVelocity,           (* lreal *)
   CommandedVelocity,        (* lreal *)
   MaxAccelerationSystem,    (* lreal *)
   MaxAccelerationAppl,      (* lreal*)
   MaxDecelerationSystem,    (* lreal *)
   MaxDecelerationAppl,      (* lreal*)
   MaxJerk,                  (* lreal *)

(* Beckhoff specific parameters *)
   AxisId :=1000,                    (* lreal *)
   AxisVeloManSlow,                  (* lreal *)
   AxisVeloManFast,                  (* lreal *)
   AxisVeloMax,                      (* lreal *)
   AxisAcc,                          (* lreal *)
   AxisDec,                          (* lreal *)
   AxisJerk,                         (* lreal *)
   AxisMaxVelocity,                  (* lreal *)
   AxisRapidTraverseVelocity,        (* lreal *)
   AxisManualVelocityFast,           (* lreal *)
   AxisManualVelocitySlow,           (* lreal *)
   AxisCalibrationVelocityForward,   (* lreal *)
   AxisCalibrationVelocityBackward,  (* lreal *)
   AxisJogIncrementForward,          (* lreal *)
   AxisJogIncrementBackward,         (* lreal *)
   AxisEnMinSoftPosLimit,            (* bool *)
   AxisMinSoftPosLimit,              (* lreal *)
   AxisEnMaxSoftPosLimit,            (* bool *)
   AxisMaxSoftPosLimit,              (* lreal *)
   AxisEnPositionLagMonitoring,      (* bool *)
   AxisMaxPosLagValue,               (* lreal *)
   AxisMaxPosLagFilterTime,          (* lreal *)
   AxisEnPositionRangeMonitoring,    (* bool *)
   AxisPositionRangeWindow,          (* lreal *)
   AxisEnTargetPositionMonitoring,   (* bool *)
   AxisTargetPositionWindow,         (* lreal *)
   AxisTargetPositionMonitoringTime, (* lreal*)
   AxisEnInTargetTimeout,            (* bool *)
   AxisInTargetTimeout,              (* lreal *)
   AxisEnMotionMonitoring,           (* bool *)
   AxisMotionMonitoringWindow,       (* lreal *)
   AxisMotionMonitoringTime,         (* lreal *)
   AxisDelayTimeVeloPosition,        (* lreal *)
   AxisEnLoopingDistance,            (* bool *)
   AxisLoopingDistance,              (* lreal *)
   AxisEnBacklashCompensation,       (* bool *)
   AxisBacklash,                     (* lreal *)
   AxisEnDataPersistence,            (* bool *)
   AxisRefVeloOnRefOutput,           (* lreal *)
   AxisOverrideType,                 (* lreal *)
   AxisEncoderScalingFactor,         (* lreal *)
   AxisEncoderOffset,                (* lreal *)
   AxisEncoderDirectionInverse,      (* bool *)
   AxisEncoderEncoderMask,           (* dword *)
   AxisEncoderModuloValue,           (* lreal *)
   AxisModuloToleranceWindow,        (* lreal *)
   AxisEnActPosCorrection,           (* bool *)
   AxisActPosCorrectionFilterTime,   (* lreal *)
   AxisUnitInterpretation,           (* lreal - Bit 2 of this word is the modulo flag *)

(* Beckhoff specific axis status information - READ ONLY *)
   AxisTargetPosition := 2000,       (* lreal *)
   AxisRemainingTimeToGo,            (* lreal *)
   AxisRemainingDistanceToGo         (* lreal *)
);
END_TYPE

In this enum, the parameters for the blocks MC_ReadParameter, MC_ReadBoolParameter, MC_WriteParameter and MC_WriteBoolParameter are specified. If the data types do not coincide, or if an attempt is made to read a non-existing parameter, an error is generated.

Requirements