This function block is used to check the data for a permanent variable that can be used to save and restore the axis position. It determines whether the address of the variable in the ACP10_MC library has already been made known with MC_BR_InitEndlessPosition and whether it contains valid data that can be used to restore the axis position.
This function block can also be called in the initialization subroutine.
Requirements for use
•Function block name for SG3/SGC target systems MC_091BR_CheckEndlessPosition
PLCopen axis states in which the function block is permitted to be enabled
All PLCopen axis states, no effect on the PLCopen axis state
Function block
Parameter
I/O |
Parameter |
Data type |
Description |
IN |
UDINT |
Axis reference |
|
IN |
BOOL |
Execution of the function block begins on a rising edge of this input. |
|
IN |
DataAdress |
UDINT |
Address of the permanent variable of type MC_ENDLESS_POSITION |
OUT |
Done |
BOOL |
Execution successful. Function block is finished. |
OUT |
Busy |
BOOL |
The function block is active and must continue to be called. |
OUT |
Error |
BOOL |
Error during execution |
OUT |
ErrorID |
UINT |
|
OUT |
EndlessPositionInitialized |
BOOL |
Data address already initialized |
OUT |
DataValid |
BOOL |
Indicates that the data in the permanent variable for restoring the axis position is valid |
Table: Parameter MC_BR_CheckEndlessPosition
MC_ENDLESS_POSITION data type
Parameter |
Data type |
Description |
EndlessPositionData |
MC_ENDLESS_POSITION_DATA[2] |
|
MC_ENDLESS_POSITION_DATA data type
Parameter |
Data type |
Description |
MTPhase |
DINT |
Position inside the encoder counting range |
MTDiffInteger |
DINT |
Added up remainder of EncoderCountingRange / LoadPeriod division (integer) |
MTDiffFract |
DINT |
Added up remainder of EncoderCountingRange / LoadPeriod division (undivided remainder) |
RefOffset |
DINT |
Difference between encoder value and INT32 position at the last homing procedure |
Checksum |
UDINT |
Checksum for the saved data |
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