AXACTEX (extended axis actions)
The STOP input has higher priority as the START input. If a rising edge is presented to both the 'START' and 'STOP' inputs at the same time, the Stop command will be sent to the axis.
The block has the following inputs:
Input | Data type | Description |
|---|---|---|
AXID | INT | Axis ID |
START | BOOL | A rising edge at this boolean input sends a start command to the axis. As soon as the block's BUSY output goes FALSE, the bit in the cyclical process image for 'axis has transport instruction' is set, and the NC has accepted the start command for the axis; however, this means neither that the axis has already started physical movement, nor that it has arrived at its target. Only when the bit for 'axis has transport instruction' has returned to zero, without any axis error having occurred in the meantime, has the logical positioning of the axis been completed. If a target position window has been set, it is possible for reaching the target position window to be evaluated as reaching the physical position. |
STOP | BOOL | A rising edge at this boolean input sends a stop command to the axis. Only when the 'axis has transport instruction' bit in the cyclical process image is set to zero has the logical positioning of the axis been completed. |
MODE | DWORD | Start mode: absolute, continuous, modulo – see below |
VELOCITY | LREAL | The parameter contains the required transport speed for a following transport instruction, e.g. mm/s. |
ACCEL | LREAL | Acceleration, e.g. mm/s² |
DECEL | LREAL | Deceleration, e.g. mm/s² |
JERK | LREAL | Jerk e.g. mm/s³ |
TARGPOS | LREAL | Target position in physical magnitudes, e.g. mm, degrees |
TMOUT | TIME | ADS Timeout-Delay |
Output | Data type | Description |
|---|---|---|
BUSY | BOOL | This output remains TRUE until the block has executed a command, but at the longest for the duration supplied to the ‘Timeout’ input. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored. |
ERR | BOOL | This output is switched to TRUE if an error occurs during the execution of a command. The command-specific error code is contained in ‘ErrorId’. If the block has a timeout error, ‘Error’ is TRUE and ‘ErrorId’ is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs. |
ERRID | UDINT | Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of an instruction at the inputs. The error numbers in ErrId can be consulted in the ADS error documentation |
Example
The diagram shows "AXACTEX_1" as an instance of the AXACTEX block, with which axis no. 1 can be started and stopped. The target position is at 10000.00 mm, and the speed is 2000 mm/s. Additionally, the acceleration (3000 mm/s2) and the jerk (15000 m/s3) are specified with the aid of this block, the standard value being taken from the axis configuration for the deceleration (special identifier "-1").
Requirements
Development environment | Target system type | PLC libraries to include |
|---|---|---|
TwinCAT v2.7.0 | PC (i386) | PlcNc.Lib |
TwinCAT v2.8.0 | PC (i386) | TcNC.Lib |