FC_InitCmdGroup - General Information
|
Type: |
Function |
|
Available as of: |
V1.1.0.0 |
|
Support for: |
PacDrive pilot template architecture |
Function for initialization of an axis that is controlled by the function block AXM.FB_AxisModuleTpi.
This function is used to create a group and assign axes to the group. A group allows a single command to act on multiple axes.
Enumerations are used to name groups and these are declared as constants. The following are typical group names:
oc_udiMasterGroup : UDINT := 2001; (* Name of the module group 1 *)
oc_udiSlaveGroup1 : UDINT := 2002; (* Name of the module group 2 *)
oc_udiSlaveGroup2 : UDINT := 2003; (* Name of the module group 3 *)
All user created groups have to be numbered between 2000 and 4000 (2000 and 2000 +TPL.Gc_udiNumberOfGroups). The function will return FALSE if the i_udiGroupName parameter is outside this value range.
The following enumeration is predefined to act on all axes:
o TPL.Gc_udiAllSubModules : DINT := 1000; (* Predefined group *)
Up to ten axes can be assigned to the group with the inputs i_udiMemberAxis1 to i_udiMemberAxis10. The axis names are also declared as a constant.
The following are several typical axis´ names:
oc_udiMaster : UDINT :=1;
oc_udiAxis2 : UDINT :=2;
oc_udiAxis3 : UDINT :=3;
oc_udiAxis4 : UDINT :=4;
The maximum quantity of axes per group is limited to ten by the predefined constant TPL.Gc_udiNumberOfGroupMembers.
The group is added to the array that holds all the groups with the iq_aaudiCmdGroup input. The maximum quantity of groups is limited to five by the predefined constant c_udiNumberOfGroups.
|
Input |
Data type |
Description |
|---|---|---|
|
i_udiGroupName |
UDINT |
Specifies a group number. The number has to be between 2000 and 4000. |
|
i_udiMemberAxis1 to i_udiMemberAxis10 |
UDINT |
Specifies the axes that are members of this group. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message |
|
Input/Output |
Data type |
Description |
|---|---|---|
|
iq_aaudiCmdGroup |
ARRAY[1..Gc_udiNumberOfGroupsTpi, 1..Gc_udiNumberOfGroupMembersTpi] OF UDINT |
Specifies the array that holds all the groups. |
|
Data type |
Description |
|---|---|
|
|
The function will return FALSE if the predefined constant TPL.Gc_udiNumberOfGroupMembers is less than ten. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
|
|
InputParameterInvalid |
70 |
The group name is outside the valid range. |
|
|
InputParameterInvalid |
71 |
The number of group members TPI is out of range. |
|
Enumeration name: |
GroupNameRange |
|
Enumeration value: |
70 |
|
Description: |
The group name is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
Input parameter invalid. i_udiGroupName is outside the permitted range. |
i_udiGroupName must be greater than Gc_udiGroupOffset and smaller than Gc_udiGroupOffset + Gc_udiNumberOfGroupsTpi. |
|
Enumeration name: |
NumberOfGroupMembersTpiRange |
|
Enumeration value: |
71 |
|
Description: |
The number of group members TPI is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
Input parameter invalid. Gc_udiNumberOfGroupMembersTpi is outside the permitted range. |
Gc_udiNumberOfGroupMembersTpi must be greater than or equal to 10. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
