MC_ActivateExternalSetpointGeneration

This function block activates external setpoint generation. Setpoints are generated by a function block, which is called through the ITcMcExternalSetpointGenerator interface from the MC context. Additionally custom startup data can be passed through the generator.

Syntax

Definition:

FUNCTION_BLOCK MC_ActivateExternalSetpointGeneration
VAR_IN_OUT
    Axis                      : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Execute                   : BOOL;
    ExternalSetpointGenerator : ITcMcExternalSetpointGenerator;
    AllowOtherContext         : BOOL;
    EnableDynamicChecks       : BOOL;
    InvokeId                  : XWORD;
    BufferMode                : EBufferMode;
END_VAR
VAR_OUTPUT
    Busy                      : BOOL;
    Active                    : BOOL;
    CommandAborted            : BOOL;
    Error                     : BOOL;
    ErrorId                   : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
Execute	BOOL		Trigger the command with rising edge.
ExternalSetpointGenerator	ITcMcExternalSetpointGenerator		Function block that implements (cyclic) methods for external setpoint generation
AllowOtherContext	BOOL	false	Allow the calling task to differ from the MC task (MET task). When TRUE, ensure compatible update rates and safe data access in the ITcMcExternalSetpointGenerator methods.
EnableDynamicChecks	BOOL	true	Trigger error on inconsistent setpoint values (position, velocity, acceleration) if EnableDynamicChecks = TRUE.
InvokeId	XWORD	0	Invocation identifier, passed through to the external setpoint generator. Can be used to distinguish multiple activations of the same generator, or to pass custom data (e.g. a pointer).
BufferMode	EBufferMode	Aborting	Chronological sequence of the command

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Further information

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x813c	33084	Parameter	BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered).
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x81af	33199	Function Block	Invalid object or object reference passed to function block. An invalid or missing object reference was passed to the function block (e.g., missing CamObject reference on MC_CamIn, MC_CamTableSelect or MC_CamScaling).

An overview of all NC error codes can be found here:

Other errors

In connection with task settings and the AllowOtherContext = FALSE input, the error ADSERR_DEVICE_INVALIDCONTEXT (0x709; 1801) may occur if the MC3 and the PLC are not called by the same task.

You can find an overview of all ADS return codes here:

ADS Return Codes

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6