MotionParams

This Corefunction is used to display a range of parameter values for a motion unit.

The writeable parameters can be saved using the Persist option with the functionality provided by NC (TF5000) or Hydraulic Library (TF5810). Alternatively, Plastic Technology Functions also offers a storage option via the machine data. For this purpose, FB_MotionParams already implements a fully-fledged machine data component. You will find an example of the setup in the lower part of this description.

	Support of the parameters depends on the technology Some parameters are only available for specific drive technologies. Please note the comments in the “Selection” column!

	Function is asynchronous An implementation of runtime switching via this function block must always take the state of the function block into account. A written parameter does not become active immediately. The BusyState can be checked by setting it to FALSE

	Axis may need to be disabled Some parameters cannot be written while an axis is enabled.

Syntax:

FUNCTION_BLOCK FB_MotionParams EXTENDS FB_MdMotionParams

Properties

Name	Type	Access	Selection	Description
ActuatorBase	I_ActuatorParamsH	Get		Access to parameters for the base position of an actuator.
ActuatorWork	I_ActuatorParamsH	Get		Access to parameters for the working position of an actuator.
AsymTargeting	BOOL	Get, Set		TRUE if the parameters for the target approach are direction-dependent. Otherwise, the parameters for the negative direction are ignored and the parameters for the positive direction are used regardless of the direction.
AutoBrakeCalculation	BOOL	Get, Set		TRUE if the braking distance is determined automatically.
AxisIsNc	BOOL	Get	/	TRUE, if the axis is operated with TwinCAT NC.
BrakeDistanceM	LREAL	Get, Set		The braking distance in negative direction. See also AsymTargeting.
BrakeDistanceP	LREAL	Get, Set		The braking distance in positive direction.
CreepDistanceM	LREAL	Get, Set		The creep distance in negative direction. See also AsymTargeting.
CreepDistanceP	LREAL	Get, Set		The creep distance in positive direction.
CreepSpeedM	LREAL	Get, Set		The creep speed in negative direction.
CreepSpeedP	LREAL	Get, Set		The creep speed in positive direction.
CycleTime	LREAL	Get	/	The cycle time of the task in which the real-time functions of the axis are executed.
CylinderAreaA	LREAL	Get, Set		Cylinder area of the A side of the activated hydraulic cylinder (positive direction).
CylinderAreaB	LREAL	Get, Set		Cylinder area of the B side of the activated hydraulic cylinder (negative direction).
DefaultAcceleration	LREAL	Get, Set		The acceleration used when a command is executed with an acceleration of 0.
DefaultDeceleration	LREAL	Get, Set		The deceleration applied when a command is executed with an acceleration of 0.
DefaultJerk	LREAL	Get, Set	/	Reserved for future use.
DriveAcceptBlockedSignal	BOOL	Get, Set		If TRUE, the axis does not immediately enter the error state as soon as the drive stops following the setpoint due to a stop signal (e.g., limit switch).
DriveIsCoE	BOOL	Get	/	TRUE, if the axis has a CoE interface.
DriveIsServo	BOOL	Get	/	TRUE if the axis is a servo drive.
DriveIsSimulated	BOOL	Get	/	TRUE if the drive of the axis is simulated.
DriveIsSoE	BOOL	Get	/	TRUE, if the axis has a SoE interface.
DriveReversed	BOOL	Get, Set		TRUE if the drive of the axis is inverted. The outputs are swapped for actuators.
DriveTorqueWeighting	LREAL	Get	/	Scaling factor of the actual torque value of the drive.
DriveType	UDINT	Get	/	A numeric identifier for the type of the connected drive. The meaning of the constants is defined in the Tc2 NC or the Tc2_Hydraulics library.
EncoderInterpolation	LREAL	Get, Set		The divider for the encoder evaluation. It specifies the number of increments corresponding to the distance specified by EncoderWeighting.
EncoderIsAnalog	BOOL	Get	/	TRUE if the encoder of the axis uses an analog input.
EncoderIsSimulated	BOOL	Get	/	TRUE if the encoder of the axis is simulated.
EncoderMask	UDINT	Get	/	Encoder mask for encoder value overflow
EncoderMode	UDINT	Get, Set		Operation mode of the encoder
EncoderReversed	BOOL	Get, Set		TRUE if the encoder / feedback of the axis is inverted. The feedback inputs are swapped for actuators.
EncoderType	UDINT	Get	/	A numeric identifier for the type of the connected encoder. The meaning of the constants is defined in the Tc2 NC or the Tc2_Hydraulics library.
EncoderWeighting	LREAL	Get, Set		The factor for encoder evaluation. It specifies the distance corresponding to a number of increments specified by EncoderInterpolation.
EncoderZeroShift	LREAL	Get, Set		The zero point shift of the encoder.
HasAutoLimiting	BOOL	Get	/	TRUE if the axis uses an internal automatic limiting function.
LagControlled	BOOL	Get	/	TRUE if the axis has a position controller.
LagCtrlKp	LREAL	Get, Set		The kP factor of the position controller.
LagFilter	LREAL	Get, Set		The filter time of the following error monitoring.
LagLimit	LREAL	Get, Set		The threshold value of the following error monitoring.
LagMonitored	BOOL	Get, Set		TRUE, if the following error monitoring of the axis is active.
MaxAcceleration	LREAL	Get, Set		The maximum permissible acceleration. A write operation on this parameter is always also applied to DefaultAcceleration.
MaxDeceleration	LREAL	Get, Set		The maximum permissible deceleration. A write operation on this parameter is always also applied to DefaultDeceleration.
MaxJerk	LREAL	Get, Set		The maximum permissible jerk.
MaxVeloApplication	LREAL	Get, Set		An additional velocity restriction.
MaxVeloSystem	LREAL	Get, Set		The maximum velocity of the axis. This parameter acts as a reference value for the maximum velocity output of the drive interface.
MinVeloApplication	LREAL	Get, Set		The minimum velocity of the axis.
Persist	BOOL	Get, Set		Enables the persistent saving of parameter write operations of this function block on the target system.
ScalingOilPressure	LREAL	Get, Set		The scaling factor for the actual pressure acquisition.
SoftEndMax	LREAL	Get, Set		The maximum software limit switch.
SoftEndMaxEna	BOOL	Get, Set		Enable for the maximum software limit switch.
SoftEndMaxSystem	LREAL	Get, Set		For the load side of transforming axes: The converted maximum software limit switch of the drive side. For the drive side of transforming axes: The converted maximum software limit switch of the load side. For non-transforming axes: A copy of the maximum software limit switch.
SoftEndMin	LREAL	Get, Set		The minimum software limit switch.
SoftEndMinEna	BOOL	Get, Set		Enable for the minimum software limit switch.
SoftEndMinSystem	LREAL	Get, Set		For the load side of transforming axes: The converted minimum software limit switch of the drive side. For the drive side of transforming axes: The converted minimum software limit switch of the load side. For non-transforming axes: A copy of the minimum software limit switch.
Valid	BOOL	Get	/	TRUE if all parameters are valid.
VeloMonitored	BOOL	Get, Set		TRUE if the velocity monitoring of the axis is active.
VeloLagLimit	LREAL	Get, Set		The tolerance window for triggering the velocity monitoring. For actuators, the limit is interpreted as time.
BusyState	BOOL	Get	/	TRUE, if the function block writes changed parameters.
ReadyState	BOOL	Get	/	TRUE if the function block has loaded all parameters at least once.
MaxAccApplication¹	LREAL	Get, Set	Obsolete	Returns the value of DefaultAcceleration
MaxDecApplication¹	LREAL	Get, Set	Obsolete	Returns the value of DefaultDeceleration
HasTorqueLimiting¹	BOOL	Get	Obsolete	Returns the value of HasAutoLimiting.
MinVeloJog¹	LREAL	Get, Set	Obsolete	Returns the value of MinVeloApplication.

¹Obsolete

Legend

	TF5810 Hydraulic Positioning FB_AxisHydraulicBase
	TF5000 NC PTP FB_AxisNcBase FB_AxisNcTrafoBase
	TF8560 Inverter Axis FB_AxisInvBase
	TF8560 Digital Actuator FB_ActuatorBase

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_MotionParams	Standard interface on FB_MotionParams.
I_MdComponent	Interface for use as machine data component

Example:

iAxisBase.MotionParams.SoftEndMax := fAxisStroke;

Example | Configure machine data:

VAR
    iComponent:        I_MdComponent;
    fbAxisData:        FB_MdContainer;
END_VAR

// query the compatible component interface from the axis motion params
IF __QUERYINTERFACE(iAxisBase.MotionParams, iComponent) AND NOT bAppend THEN
    bAppend := fbAxisData.AddComponent(iComponent);
END_IF

// A saving commands is received
IF bSave THEN
    fbAxisData.Save := TRUE;
    IF fbAxisData.Done THEN
        fbAxisData.Save := FALSE;
        bSave := FALSE;
    END_IF
END_IF

fbAxisData.Cyclic();

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.71 TwinCAT v3.1.4026.19	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v12.14.0.0)

Further Information