Structure of the documentation

Each axis consists of an axis structure under the name "Axis_ref_BkPlcMc", which is composed of different external structures. This axis structure contains all the data (runtime data and parameter data) for this axis.

Structure of the documentation 1:

Certain function blocks have to be present in each application, to enable an axis to move. These function blocks include:

MC_AxUtiStandardInit_BkPlcMc: Initialization and monitoring of the different axis components. Such an FB should be called cyclically. Blocks such as MC_Power_BkPlcMc, etc. may only be called after successful initialization.
MC_Power_BkPlcMc: The function block is used to control an external actuator. The function block issues release notifications to valve output stages or frequency converters, for example.
MC_AxStandardBody_BkPlcMc: In each case the function block calls a function block of type
MC_AxRtEncoder_BkPlcMc: Determination of the actual position of the axis from the input information of a hardware module.
MC_AxRuntime_BkPlcMc: Deals with profile generation.
MC_AxRtFinish_BkPlcMc: Adaptation of the control value to the special characteristics of the axis (characteristic curve linearization)
MC_AxRtDrive_BkPlcMc: The function block performs preparation of the control value for the axis for it to be output on a hardware module.
MC_AxAdsCommServer_BkPlcMc: Establishes the connection to PlcMcManager and monitors it. This block must be called independent of the initialization, in order to enable commissioning without existing parameters.

Optional useful function blocks are:

MC_AxRtLoggerSpool_BkPlcMc: The function block prevents overflowing of the LogBuffer of the library.
MC_AxParamDelayedSave_BkPlcMc: Performs an auto-save of the axis parameters.

The so-called "PlcMcManager" is provided for commissioning. This tool consolidates setting parameters and is intended to facilitated commissioning of the system.

The first example is intended to illustrate the "first steps".

Function groups	Description
Management functions	Functions for management and monitoring of axes, parameter access and states.
Single axis motion functions	Triggering and monitoring of active movements for individual axes.
Axis group motion functions	Triggering and monitoring of active movements for axis groups.
Drive adjustments	Function blocks for preparing axis control values for output on output devices (terminals, actuators etc.) in the periphery.
Encoder adjustments	Function blocks for evaluating actual position data, which were read by input devices (terminals, encoders etc.) in the periphery.
Parameter handling	Function blocks for saving, reading and communicating parameters.
Motion generators	Control value generators for active axis movements
Controller	Controllers for various state variables: position, velocity, pressure.
Table functions	Table functions for non-linear mappings and cam plates
Message logging	Message recording.
Runtime functions	Various runtime functions.
Data types	Enumerations and structures used in the library