Data type ST_AxisParameterSet

The data type ST_AxisParameterSet contains the whole parameter dataset of an axis that can be read with the function block MC_ReadParameterSet.

Individual parameters that can be changed at runtime can be written with MC_WriteParameter. It is not possible to write back the parameter dataset.

The individual parameters are described in the NC ADS documentation.

TYPE ST_AxisParameterSet :
STRUCT
    (* AXIS: *)
    AxisId                      : DWORD; (* 0x00000001 *)
    sAxisName                   : STRING(31); (* 0x00000002 *)
    nAxisType                   : DWORD;      (* 0x00000003 *)
    bEnablePositionAreaControl  : WORD;       (* 0x0000000F *)
    fPositionAreaControlRange   : LREAL;      (* 0x00000010 *)
    bEnableMotionControl        : WORD;       (* 0x00000011 *)
    fMotionControlTime          : LREAL;      (* 0x00000012 *)
    bEnableLoop                 : WORD;       (* 0x00000013 *)
    fLoopDistance               : LREAL;      (* 0x00000014 *)
    bEnableTargetPosControl     : WORD;       (* 0x00000015 *)
    fTargetPosControlRange      : LREAL;      (* 0x00000016 *)
    fTargetPosControlTime       : LREAL;      (* 0x00000017 *)
    fVeloMaximum                : LREAL;      (* 0x00000027 *)
    fMotionControlRange         : LREAL;      (* 0x00000028 *)
    bEnablePEHTimeControl       : WORD;       (* 0x00000029 *)
    fPEHControlTime             : LREAL;      (* 0x0000002A *)
    bEnableBacklashCompensation : WORD;       (* 0x0000002B *)
    fBacklash                   : LREAL;      (* 0x0000002C *)
    sAmsNetId                   : T_AmsNetId; (* 0x00000031 *)
    nPort                       : WORD;       (* 0x00000031 *)
    nChnNo                      : WORD;       (* 0x00000031 *)
    fAcceleration               : LREAL;      (* 0x00000101 *)
    fDeceleration               : LREAL;      (* 0x00000102 *)
    fJerk                       : LREAL;      (* 0x00000103 *)

    (* ENCODER: *)
    nEncId                      : DWORD;      (* 0x00010001 *)
    sEncName                    : STRING(31); (* 0x00010002 *)
    nEncType                    : DWORD;      (* 0x00010003 *)
    fEncScaleFactor             : LREAL;      (* 0x00010006 *)
    fEncOffset                  : LREAL;      (* 0x00010007 *)
    bEncIsInverse               : WORD;       (* 0x00010008 *)
    fEncModuloFactor            : LREAL;      (* 0x00010009 *)
    nEncMode                    : DWORD;      (* 0x0001000A *)
    bEncEnableSoftEndMinControl : WORD;       (* 0x0001000B *)
    bEncEnableSoftEndMaxControl : WORD;       (* 0x0001000C *)
    fEncSoftEndMin              : LREAL;      (* 0x0001000D *)
    fEncSoftEndMax              : LREAL;      (* 0x0001000E *)
    nEncMaxIncrement            : DWORD;      (* 0x00010015 *)
    bEncEnablePosCorrection     : WORD;       (* 0x00010016 *)
    fEncPosCorrectionFilterTime : LREAL;      (* 0x00010017 *)

    (* CONTROLLER: *)
    nCtrlId                     : DWORD;      (* 0x00020001 *)
    sCtrlName                   : STRING(31); (* 0x00020002 *)
    nCtrlType                   : DWORD;      (* 0x00020003 *)
    bCtrlEnablePosDiffControl   : WORD;       (* 0x00020010 *)
    bCtrlEnableVeloDiffControl  : WORD;       (* 0x00020011 *)
    fCtrlPosDiffMax             : LREAL;      (* 0x00020012 *)
    fCtrlPosDiffMaxTime         : LREAL;      (* 0x00020013 *)
    fCtrlPosKp                  : LREAL;      (* 0x00020102 *)
    fCtrlPosTn                  : LREAL;      (* 0x00020103 *)
    fCtrlPosTv                  : LREAL;      (* 0x00020104 *)
    fCtrlPosTd                  : LREAL;      (* 0x00020105 *)
    fCtrlPosExtKp               : LREAL;      (* 0x00020106 *)
    fCtrlPosExtVelo             : LREAL;      (* 0x00020107 *)
    fCtrlAccKa                  : LREAL;      (* 0x00020108 *)

    (* DRIVE: *)
    nDriveId                    : DWORD;      (* 0x00030001 *)
    sDriveName                  : STRING(31); (* 0x00030002 *)
    nDriveType                  : DWORD;      (* 0x00030003 *)
    bDriveIsInverse             : WORD;       (* 0x00030006 *)
    fDriveVeloReferenz          : LREAL;      (* 0x00030101 *)
    fDriveOutputReferenz        : LREAL;      (* 0x00030102 *)

    (* miscellaneous *)
    fAxisCycleTime              : LREAL;      (* 0x00000004 *) (* available from Tc 2.11 R2 *)

    (* 17.05.11: parameter extension *)
    fRefVeloSearch              : LREAL;      (* 0x00000006 calibration velo (TO plc cam) *)
    fRefVeloSync                : LREAL;      (* 0x00000007 calibration velo (off plc cam) *)
    fVeloSlowManual             : LREAL;      (* 0x00000008 manual velocity (slow) *)
    fVeloFastManual             : LREAL;      (* 0x00000009 manual velocity (fast) *)

    (* ENCODER (incremental): *)
    bEncRefSearchInverse        : UINT;       (* 0x00010101 *)
    bEncRefSyncInverse          : UINT;       (* 0x00010102 *)
    nEncRefMode                 : UDINT;      (* 0x00010107 *)
    fEncRefPosition             : LREAL;      (* 0x00010103 *)

    (* fill up *)
    arrReserved                 : ARRAY[511..512] OF BYTE; (* fill up to 512 bytes *)
END_STRUCT
END_TYPE