I_AxisBaseDev

Actuals

I_MotionActuals

Get

Provision of current actual values (positions, velocities, etc.)

I_AxisBaseDev

AxisIsInverter

BOOL

Get

TRUE if the axis is of type FB_AxisInvBase.

AxisIsNc

BOOL

Get

TRUE if the axis is based on a TwinCAT NC axis.

PtpPoints

INT

Get, Set

The number of supported segments in the table supported by Ptp.

I_MotionBaseDev

[INTERN] CmdCurrent

UDINT

Get, Set

A counter that assigns an identification to each activated command.

[INTERN] CmdCurrentId

E_CurrentCmd

Get, Set

A counter that assigns an identification to each activated command.

[INTERN] CmdNext

UDINT

Get

The next value to be used as CmdCurrent.

[INTERN] CoreDebug

I_CoreDebug

Get

Debugging support

[INTERN] CycleTime

LREAL

Get

In the startup phase, the axis will determine the cycle time of the PLC task that runs the axis function. The axis will not execute any function if it could not update this value.

[INTERN] CycleTimeValid

LREAL

Get

The internal query of the cycle time is valid

I_AxisBase

AutoLimitSelect

BOOL

Get, Set

A TRUE allows the axis to select an internal function block for limiting if the servo drive type (CoE, SoE) has been detected.

Camming

I_CammingMain

Get

Functions for processing cam plates.

DisableSoftEnd

I_DisableSoftEnd

Get

Possibility to temporarily disable the software limit switches of the axis and restore their original state.

Estop

I_Estop

Get

Function for canceling an active motion command to bring the axis to a standstill. If available, increased dynamic parameters are applied.

ExtGenerated

BOOL

Get

TRUE if the setpoint generation runs via the ExternalGenerating core function.

Homing

I_HomingMain

Get

Provision of a selection of homing procedures.

Limiting

I_Limiting

Get

Limitation (torque, pressure, etc.) of the axis.

MotionSetpoints

I_MotionSetpoints

Get

Provision of current setpoints (position, velocity, etc.).

Ptp

I_Ptp

Get

Function for active movements. A table with a section-by-section definition is used.

SetPosition

I_SetPosition

Get

Set a new actual position of the axis.

Stop

I_Stop

Get

Canceling an active motion command to bring the axis to a standstill. The dynamics parameters of the motion command are used.

TeachPosition

I_TeachPosition

Get

Commissioning of axes with analog position measuring systems.

TeachUpdate

I_TeachUpdate

Get

ToolAdaption

I_ToolAdaption

Get

Conversion of positions and velocities between an axis and a tool.

VelocityFeed

I_VelocityFeed

Get

An interface to a local function block that triggers a motion without specifying a destination.

I_MotionBase

Jog

I_Jog

Get

Command motion without a defined destination (travel on revocation).

MotionParams

I_MotionParams

Get

Compilation of motion parameters

Name

STRING

Get

The textual name of the motion unit.

Power

I_Power

Get

Function for releasing the axis and its direction-related feed releases.

State

E_AxiState

Get

The current state of the axis.

Cyclic()

This method implements all motion mechanisms that must be called cyclically.

I_AxisBaseDev

[INTERN] ConvertCountToPos

Only for internal use.

[INTERN] ConvertPosToCount

Only for internal use.

GoErrorBase(nErrorCode)

This method can be used to set the axis to an error state.

SetLimiting(iLimiting)

This method connects a limiting block to the axis.

SetTorqueLimiting(iTorqueLimiting)¹

This method connects a torque limiting block to the axis.

I_MotionBaseDev

[INTERN] AppendCorefunction(iCoreFunc)

Only for internal use.

[INTERN] EnterCriticalSection()

Only for internal use.

[INTERN] ForceState(eNewState)

This method changes the state of the axis with high priority.

[INTERN] LeaveCriticalSection()

Only for internal use.

[INTERN] ReadCycleTime()

Used to determine the cycle time.