FC_SaveAxisPosition

FC_SaveAxisPosition - General Information

Overview

Type:	Function
Available as of:	V1.0.3.0
Versions:	Current version

Task

Saving the axis position and the encoder position (EncoderPosition) in remanent variable in the NVRam

Description

FC_SaveAxisPosition() cyclically saves the axis position and the encoder position (EncoderPosition) in a remanent variable in the NVRam. By means of the function FC_RestoreAxisPosition, the remanent variables are re-read and the axis position is calculated and set.

Saving the positions is only possible in SERCOS Phase 4.

FC_SaveAxisPosition() should only be called up in a homed system. Either according to FC_RestoreAxisPosition() or using another type of homing.

Interface

Input	Data type	Description
i_etPosType	ET_PosType	Position type
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to an diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message which gives more detailed information on the diagnostic state.

Input/Output	Data type	Description
iq_stRestorePosition	ST_AxisRestorePosition	Remanent data

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The axis position has been saved successfully.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.