This function block initializes a cyclic ParID transfer from the master to the slave. If the "Done" output is TRUE, the slave can use the received data (e.g. as a master for the Cam Profile Automat, additive master axis, etc.). The value transmitted from the master is then available on the slave on the ParID at the "ReceiveParID" output.
Multi-axis function blocks start this transfer automatically. They do not need this function block.
This function block gives the user the ability to transfer all required ParIDs from one drive to another (e.g. external encoder, actual position, outputs of SPT resources, etc.).
Generally, this function block is required in order to use the "MasterParID" function block input on various other multi-axis function blocks or to create a Cam Profile Automat configuration in an ACOPOS parameter table.
The following ParIDs can be used for an axis coupling:
Description |
|
ACP10PAR_S_SET_VAX1 |
Virtual axis: Position |
ACP10PAR_ENCOD2_S_ACT |
Encoder 2: Actual position ("external axis") |
ACP10PAR_ENCOD2_S_ACT_FILTER |
Encoder 2: Filtered actual position |
ACP10PAR_ENCOD3_S_ACT |
Encoder 3: Actual position ("external axis") |
ACP10PAR_ENCOD3_S_ACT_FILTER |
Encoder 3: Filtered actual position |
ACP10PAR_SGEN_S_SET |
Position controller: Input setpoint |
ACP10PAR_PCTRL_S_ACT |
Position controller: Actual position |
Requirements for use
Function block name for SG3/SGC target systems MC_024BR_InitMasterParIDTrans
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 |
Master |
UDINT |
Master axis reference (transmitter) |
IN |
Slave |
UDINT |
Slave axis reference (receiver) |
IN |
BOOL |
Initializes transfer on a rising edge |
|
IN |
MasterParID |
UINT |
This ParID is used instead of the position setpoint; 0…Use position setpoint |
IN |
SlaveChannel |
USINT |
0…Function block defines a slave channel CAN: 1 - 3 Function block uses the specified slave channel POWERLINK: 1 - 5 Function block uses the specified slave channel Note (V2.310 and higher): POWERLINK: If a channel number is specified, the slave channel can be reconfigured for other function block calls or by MC_BR_InitReceiveParID. If a different "MasterParID" is received via a previously configured slave channel, this can cause the value of "ReceiveParID" to jump. |
OUT |
Done |
BOOL |
Parameter transfer initialized |
OUT |
Busy |
BOOL |
Parameters initialization in progress |
OUT |
Error |
BOOL |
Error during execution |
OUT |
ErrorID |
UINT |
|
OUT |
ReceiveParID |
UINT |
ParID on the slave axis that can be used as the MasterParID |
Table: Parameter MC_BR_InitMasterParIDTransfer
Topics in this section: