This function block initializes cyclic writing of a transmit channel on the master axis drive to a receive channel on the slave axis drive. The number of the receive channels can be explicitly specified.
A ParID that is sent via MC_BR_InitSendParID can be received on another drive. These two function blocks have similar functionality to MC_BR_InitMasterParIDTransfer, but the transmit and receive channel as well as the interpolation mode can be explicitly specified.
It is also possible to receive a ParID that is transmitted by an axis that is not being controlled by PLCopen function blocks.
Requirements for use
Function block name for SG3/SGC target systems MC_079BR_InitReceiveParID
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) Note: It is also possible to use an axis reference for an axis that is not being controlled by PLCopen function blocks (PLCopen_Disabled = "1" in NC mapping table). |
IN |
Slave |
UDINT |
Slave axis reference (receiver) |
IN |
BOOL |
Enables cyclic receipt of the ParID on a rising edge |
|
IN |
ParID |
UINT |
ParID whose value was transmitted cyclically from the master (PLCopen axis) Note: This definition is not necessary if a value ≠ "0" is specified for "SendChannel". |
IN |
InterpolationMode |
USINT |
Interpolation mode for the received value mcIPL_OFF … 0 mcIPL_LINEAR … 1 mcIPL_QUADRATIC … 2 mcIPL_QUADRATIC_NO_OVERSHOOT … 4 Note: The default setting on the drive is 1. |
IN |
SendChannel |
USINT |
0 … Function block uses the ParID to search for the transmit channel 1 … 3 … ACP10PAR_MA1/2/3_CYCLIC_SEND |
IN |
ReceiveChannel |
USINT |
POWERLINK: 0 … Function block defines a receive channel 1 … 5 … Function block uses the specified receive channel CAN: Input has no effect Note (V2.310 and higher): POWERLINK: If a channel number is specified, the receive channel can be reconfigured for other function block calls or by MC_BR_InitMasterParIDTransfer. If a different ParID is received via a previously configured receive channel, this can cause the value of "ReceiveParID" to jump. |
OUT |
Done |
BOOL |
Command executed Initialization completed, reading ParID value cyclically |
OUT |
Busy |
BOOL |
The function block is active and must continue to be called. |
OUT |
Error |
BOOL |
Error during execution |
OUT |
ErrorID |
UINT |
|
OUT |
ReceiveParID |
UINT |
ParID on the slave axis that can be used to further process the cyclically read value |
Table: Parameter MC_BR_InitReceiveParID
Topics in this section: