FC_InitDriveParameter - General Information
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Type: |
Function |
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Available as of: |
V1.1.0.0 |
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Support for: |
PacDrive3 pilot template architecture |
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Versions: |
Current version |
Function for initialization of an axis that is controlled by the FB_AxisModule function block.
This function will link an axis specified by i_ifDrive to a master axis and a logical encoder. The links are stored in the axis’s interface structure specified by iq_stAxisModuleItf.
The velocity at which an axis is considered moving is specified with the i_lrMotionActiveVelLimit input. The xAxisMove output of the axis’s interface structure is TRUE whenever the absolute value of the i_etMotionActiveVelType reference velocity is greater than this value.
Normally, the logic encoder is compensated for one SERCOS clock cycle because it’s assumed the logical encoder will follow a virtual or real axis. The dead time compensation of the associated logical encoder (LE.delay) is thus changed when the associated master axis is a physical encoder. The delay parameter is set to the associated axis’s delay (- Drive.ShaftRefDelay).
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Input |
Data type |
Description |
|---|---|---|
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i_ifMaster |
SystemConfigurationItf.IF_Master |
The master object e.g. a master axis. |
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i_ifDrive |
SystemConfigurationItf.IF_Drive |
Symbolic name of the axis to initialize |
|
i_lrMotionActiveVelLimit |
LREAL |
Velocity at which the axis is considered moving in units/sec |
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i_etMotionActiveVelType |
ET_MotionActiveVelType |
The velocity mode that is to be monitored for i_lrMotionActiveVelLimit. |
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Input/Output |
Data type |
Description |
|---|---|---|
|
i_lencLogicalEncoder |
L_Enc |
Symbolic name of the associated logical encoder |
|
iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
