I_MotionBaseDev

Actuals

I_MotionActuals

Get

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

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_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_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_MotionBase

DoReset(bExecute)

Triggers the reset of error states in the axis and in all local CoreFunctions.