Type:

Function Block

Available as of:

1.0.5.0

Versions:

current version

Axis

SystemConfigurationItf.IF_Drive

Interface of the axis to be controlled

Enable

BOOL

TRUE: The parameter is returned.

ParameterNumber

INT

Number of the supported parameter

1: CommandedPosition

oIF_RefActualValuesPosition.RefPosition

7: MaxPositionLag

oIF_RefActualValues.TrackingDeviation

8: MaxVelocitySystem

oIF_Limits.MaxVel

9: MaxVelocityAppl

oIF_SetLimits.UserMaxVel

10: ActualVelocity

oIF_RefActualValues.Velocity

11: CommandedVelocity

oIF_RefActualValues.RefVelocity

12: MaxAccelerationSystem

oIF_Limits.MaxAcc

13: MaxAccelerationAppl

oIF_SetLimits.UserMaxAcc

14: MaxDecelerationSystem

oIF_Limits.MaxAcc

15: MaxDecelerationAppl

oIF_SetLimits.UserMaxAcc

Valid

BOOL

TRUE if the function block has a valid output

Busy

BOOL

The function block is not finished and new outputs are still pending.

Error

BOOL

Signalizes a detected error within the function block

ErrorId

DWORD

Error identification

Value

LREAL

Value of the specified parameter

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

q_sMsg

STRING[80]

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

OK

Ok

0

Ok

OK

Valid

2

The output values are valid.

InputParameterInvalid

AxisInvalid

25

The connected drive is not supported.

InputParameterInvalid

DriveInvalid

26

The connected drive is invalid.

InputParameterInvalid

DriveNotInitialised

27

The connected drive is not initialized.

InputParameterInvalid

ParameterNumberRange

37

ParameterNumber is outside the valid range.

Enumeration name:

AxisInvalid

Enumeration value:

25

Description:

The connected drive is not supported.

-

No drive has been applied at the input Axis.

A valid drive must be transferred to the input Axis.

Enumeration name:

DriveInvalid

Enumeration value:

26

Description:

The connected drive is invalid.

-

The drive connected at the input Axis does not support all required functionalities.

A 1 was transferred at the input ParameterNumber.

The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

-

The drive connected at the input Axis does not support all required functionalities.

A 7, 10 or 11 was transferred at the input ParameterNumber.

The drive must support the SystemConfigurationItf.IF_RefActualValues interface.

-

The drive connected at the input Axis does not support all required functionalities.

A 8, 12 or 14 was transferred at the input ParameterNumber.

The drive must support the interface SystemConfigurationItf.IF_Limits.

-

The drive connected at the input Axis does not support all required functionalities.

A 9, 13 or 15 was transferred at the input ParameterNumber.

The drive must support the interface SystemConfigurationItf.IF_SetLimits.

Enumeration name:

DriveNotInitialised

Enumeration value:

27

Description:

The connected drive is not initialized.

-

The function FC_DriveInit was not activated for the drive at the input Axis.

Before using the POU, the drive must be initialized using the function FC_DriveInit.

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

Enumeration name:

ParameterNumberRange

Enumeration value:

37

Description:

ParameterNumber is outside the valid range.

-

An invalid value was transferred at the input ParameterNumber.

It must be made sure that only the values 1, 7, 8, 9, 10, 11, 12, 13, 14 or 15 are transferred at the input ParameterNumber.

Enumeration name:

Valid

Enumeration value:

2

Description:

The output values are valid.