FC_InitCmdTableCmd

FC_InitCmdTableCmd - General Information

Overview

Type:	Function
Available as of:	V1.1.0.0
Support for:	PacDrive pilot template architecture

Task

Function for initialization of an axis that is controlled by the function block AXM.FB_AxisModuleTpi.

Description

This function assigns command to a command table. An axis or a group of axes holds commands such as "start homing". A command table is an ordered list of commands that the AXM.FC_AxisModuleController function block uses to command an axis or a group of axes.

The function has to be activated with i_xEnable input in order to assign the commands on the inputs i_diStep1 to i_diStep16. The command on i_diStep1 is executed first. The command on i_diStep2 is executed after the first command has finished. This proceeds until the command on i_diStep16 has been carried out.

All possible commands are enumerated in type AXM.ET_Cmd as follows:

oAXM.ET_Cmd.Homing := 10

oAXM.ET_Cmd.Manual := 20

oAXM.ET_Cmd.CamCs := 30

oAXM.ET_Cmd.CamWs := 31

oAXM.ET_Cmd.Endless := 40

oAXM.ET_Cmd.EndlessIls := 41

oAXM.ET_Cmd.Positioning := 50

oAXM.ET_Cmd.BrakeRelease := 70

oAXM.ET_Cmd.AdditionalCs := 80

oAXM.ET_Cmd.AdditionalWs := 81

oAXM.ET_Cmd.Start := 100

oAXM.ET_Cmd.StartTrig := 101

oAXM.ET_Cmd.StratTrigWaitInPos := 102

oAXM.ET_Cmd.Stop := 110

oAXM.ET_Cmd.Hold := 120

oAXM.ET_Cmd.DriveEnableOn := 130

oAXM.ET_Cmd.DriveEnableOff := 140

oAXM.ET_Cmd.WsStart := 150

The value of the function is an array that holds the assigned commands. The array is passed to the FC_InitCmdTableModule function which associates an axis or a group of axes to each command as displayed below:

The axis or group of axes that are assigned to the i_udiStep1 is given the command on i_diStep1 input and so forth.

Interface

Input	Data type	Description
i_xEnable	BOOL	Enables the assignment of commands to a Command Table
i_diStep1	DINT	Specifies a command. Up to 16 commands can be specified

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

Output

Data type

Description

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> status message

q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

Return Value

Data type	Description
ARRAY[1..17] OF DINT	The value of the function is an array that holds the assigned commands.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok