FC_InitCmdTableModule - General Information
Task
Function for initialization of an axis that is controlled by the function block AXM.FB_AxisModuleTpi.
Description
This function is used to assign an axis or a group of axes to each command previously specified with the FC_InitCmdTableCmd function. Commands tell an axis or a group of axes what to do such as “start homing”. A command table is an ordered list of commands that the FB_ModuleControllerTpi function block uses to command an axis or a group of axes.
Group of axes are defined by the FC_InitCmdGroup function.
The return value of the FC_InitCmdTableModule function is an array that holds the commands assigned to an axis or a group. The return value is passed to the FC_InitCmdTable function that assigns the table a name and a number. The use of the described function is provided as follows:
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_adiCmds |
ARRAY[1..17] OF DINT |
Specifies which list of ordered commands with associated axes to use |
|
i_udiStep1 |
UDINT |
Specifies an axis or a group of axes, up to 16 axis and/or groups can be specified |
|
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 |