MC_AxRtFinish_BkPlcMc (from V3.0)
This function block adapts the control value that has been generated to the special features of the particular axis. An MC_AxRtFinishLinear_BkPlcMc function block should be used if a characteristic curve linearization is required.
Inputs/outputs
VAR_INOUT
Axis: Axis_Ref_BkPlcMc;
END_VAR
Name | Type | Description |
|---|---|---|
Axis | Axis_Ref_BkPlcMc | Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred. |
Outputs
VAR_OUTPUT
Error: BOOL;
ErrorID: UDINT;
END_VAR
Name | Type | Description |
|---|---|---|
Error | BOOL | The occurrence of an error is indicated here. |
ErrorID | UDINT | An encoded indication of the cause of the error is provided here. |
Behavior of the function block
The function block investigates the axis interface that has been passed to it every time it is called. A number of problems can be detected and reported during this process:
- If one of the pointers has not been initialized the system responds with Error and ErrorID:=dwTcHydErrCdPtrPlcMc or dwTcHydErrCdPtrMcPlc.
If these checks could be performed without problem, the control value for the axis is adapted according to the values in Axis.ST_TcHydAxParam.
- The control value for the advance and the positional control reaction are combined to form the output control value.
- Area compensation is taken into account.
- Compensation is applied for a bend in the characteristic curve.
- The overlap compensation, the terminal control value and the offset compensation are included in the calculation.
If only the usual function blocks (encoder, generator, finish, drive) for the axis are to be called, a function block of type MC_AxStandardBody_BkPlcMc should be used for simplicity.