MC_PowerStepper

MC_PowerStepper 1:

The enables for an axis are set with the function block MC_PowerStepper. An MC_Power block is used internally for this purpose. The MC_PowerStepper also detects the stall situations that occur in stepper motors if they are overloaded, and offers suitable counter measures. The status bits of a KL2531 or KL2541 terminal are monitored, and the errors indicated there are reported to the NC.

There is more detailed explanation in the Appendix.

Inputs


VAR_INPUT
    Enable          : BOOL;
    Enable_Positive : BOOL;
    Enable_Negative : BOOL;
    Override        : LREAL;
    DestallParams   : ST_PowerStepperStruct;
    KL_Status       : USINT;
    KL_Status2      : UINT;
END_VAR

Enable	NC controller enable for the axis.
Enable_Positive	NC advance movement enable in positive direction.
Enable_Negative	NC advance movement enable in negative direction.
Override	Override value in percent (e.g. 68.123%)
DestallParams	The functions of the block are enabled here, and their working rules are specified. ST_PowerStepperStruct
KL_Status	The status byte of a terminal of type KL2531 or KL2541.
KL_Status2	The status word of a terminal of type KL2531 or KL2541.

Outputs


VAR_OUTPUT
    Status     : BOOL;
    Error      : BOOL;
    ErrorID    : UDINT;
    Stalled    : BOOL;
    StallError : BOOL;
END_VAR

Status	Becomes TRUE once all enables were set successfully.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.
Stalled	no description
StallError	no description

Inputs/outputs


VAR_IN_OUT
    Axis     : AXIS_REF;
END_VAR

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.