FC_InitCmdTableCmd - General Information

Overview

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:

• AXM.ET_Cmd.Homing := 10

• AXM.ET_Cmd.Manual := 20

• AXM.ET_Cmd.CamCs := 30

• AXM.ET_Cmd.CamWs := 31

• AXM.ET_Cmd.Endless := 40

• AXM.ET_Cmd.EndlessIls := 41

• AXM.ET_Cmd.Positioning := 50

• AXM.ET_Cmd.BrakeRelease := 70

• AXM.ET_Cmd.AdditionalCs := 80

• AXM.ET_Cmd.AdditionalWs := 81

• AXM.ET_Cmd.Start := 100

• AXM.ET_Cmd.StartTrig := 101

• AXM.ET_Cmd.StratTrigWaitInPos := 102

• AXM.ET_Cmd.Stop := 110

• AXM.ET_Cmd.Hold := 120

• AXM.ET_Cmd.DriveEnableOn := 130

• AXM.ET_Cmd.DriveEnableOff := 140

• AXM.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

Return Value

Diagnostic Messages

Ok