Y_AX_ReadAxisParameters
This function block reads all axis parameters into the AxisParameterStruct. The Y_Motion firmware library must be included in a project that uses
Y_AX_ReadAxisParameters.
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. | |
| V | AxisParams | Yt_AX_AxisParameterStruct | User Defined DataType declared in the Y_Axis Toolbox. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. Inputs will be read only on the rising edge of enable. | FALSE |
| V | AxisType | Yt_AxisType | Indicates axis type. | INT#0 (undefined) |
| V | ParamTypes | WORD | Used to include additional parameter sets, such as camming. | WORD#0 |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| V | ErrorPrm | UINT | If there was an error while attempting to read one of the parameters listed in the ParamStruct, this output will contain the offending parameter number. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| B | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes:
- Only AxisType#Servo, AxisType#External, AxisType#Virtual are supported.
- By default, the function will update all parameter types in the AxisParamStruct. For efficiency, parameters are grouped into types. Basic, Status, and Cam. For axes that are not cam slaves, there is no need to read the cam parameters. To cause the function to skip the update of a parameter group, set the corresponding bit high. For example, the following function block will not read the cam parameters:
Parameters categorized as BasicMotion are always read.
| ParamType | ParameterName | Parameter # |
|---|---|---|
| BasicMotion | ActualPosition | 1000 |
| BasicMotion | ActualPositionCyclic | 1005 |
| BasicMotion | ActualPositionNonCyclic | 1006 |
| BasicMotion | ActualTorque | 1004 |
| BasicMotion | ActualVelocity | 1001 |
| BasicMotion | AtVelocity | 1141 |
| BasicMotion | CommandedPosition | 1010 |
| BasicMotion | CommandedPositionCyclic | 1015 |
| BasicMotion | CommandedPositionNonCyclic | 1016 |
| BasicMotion | CommandedTorque | 1014 |
| BasicMotion | CommandedVelocity | 1011 |
| BasicMotion | InPosition | 1140 |
| BasicMotion | LatchPositionNonCyclic | 1031 |
| BasicMotion | PositionError | 1130 |
| Cam | CamMasterCycle | 1512 |
| Cam | CamMasterPosition | 1500 |
| Cam | CamMasterScale | 1510 |
| Cam | CamMasterShift | 1511 |
| Cam | CamMasterShiftedCyclic | 1502 |
| Cam | CamMasterShiftedPosition | 1501 |
| Cam | CamOffset | 1531 |
| Cam | CamScale | 1530 |
| Cam | CamShiftRemaining | 1513 |
| Cam | CamState | 1540 |
| Cam | CamTableIDEngaged | 1541 |
| Cam | CamTableOutput | 1520 |
| Status | BufferedMotionBlocks | 1600 |
| Status | CommandedAcceleration | 1012 |
| Status | PositionWindow | 1120 |
Error Description:
See the
Function Block ErrorID List.