I_AxisInvBaseDev

Represents the extended interface for an inverter axis.

Syntax:

INTERFACE I_AxisInvBaseDev EXTENDS I_AxisBaseDev, I_AxisInvBase

Properties

Name	Type	Access	Description
Actuals	I_MotionActuals	Get	Provision of current actual values (positions, velocities, etc.)
I_AxisInvBaseDev
Device	I_InvDevice	Get, Set	I/O interface for communication with the axis inverter
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_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.

Methods

Name	Description
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.

I_AxisBase

Obsolete elements only

I_MotionBase
DoReset(`bExecute`)	Triggers the reset of error states in the axis and in all local CoreFunctions.

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.55	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v3.12.5.0)