Y_Axis_Toolbox FB

This function block manages the parameters associated with enabling/disabling the acceleration and deceleration limits. The limits can be enabled or disabled and the values of the limits can be input and verified at the output. The outputs are provided as an echo from the motion engine. This function allows for streaming of variable limits.

This function block checks MC_ReadAxisError and the actual position of both axes to verify that they are both free of alarms and within the position tolerance specified. It is intended for use with axes that operate on the same mechanical load and must remain within tolerance to avoid equipment damage, such as an X & X' (prime) gantry system. The Locked output will be high to indicate that the axes are synchronized and free of errors.

This function block combines MC_Power, MC_ReadAxisError, and MC_Reset and provides separate outputs for controller and drive alarms and warnings.

This function block uses MC_ReadAxisError to provide further breakdown of the ErrorClass and AxisErrorID by providing BOOL and UINT outputs for the drive faults, and a DINT value for the controller alarm which is consistent with the 32 bit controller alarm reporting in the web server. This function was created for use inside the Y_AX_AxisControl function block in the Axis Toolbox. This function's outputs are available at the output of the Y_AX_AxisControl function block.

This function block provides a BOOL output to indicate if there is a controller alarm not related to an axis. It uses the Y_ReadAlarm function block and determines if the AlarmID output is non-zero. This function is useful because the PLCopenPlus function Y_ReadAlarm does not have a Boolean output, just the AlarmID.

Y_AX_FeedToLength was designed for use with applications that index forward in one direction, and require on the fly adjustments of the actual index length based on a sensor input that occurs while the axis is moving. This block is a hybrid function block, meaning it uses both types of PLCopen behaviors: Enable and Execute. The reason for this is so the function can monitor for consecutive latches and flag an Error for that condition. The Enable input allows this feature to operate. The Execute input initiates each move.

This function block combines the PLCopen functions MC_MoveVelocity and MC_MoveAbsolute to provide a jogging feature specifically for rotary axes that must stop at a specific position after an indefinite period of motion.

This function block provides a method to initialize the HomeStruct data for use with all HOME_** function blocks. It is useful for programmers who prefer to avoid structured text for initializing HomeStruct values.

This function block combines the PLCopen function blocks MC_StepLimitSwitch, MC_MoveRelative, and MC_SetPosition to make a sequence that detects the limit switch, performs an offset move away from the limit, and sets a home position.

This function block combines the PLCopen function blocks MC_StepLimitSwitch, MC_StepRefPulse, MC_MoveRelative, and MC_SetPosition to make a sequence that detects the limit switch, reverses to the C channel, performs an offset move away from the C channel, and sets a home position.

This function block combines the PLCopen function blocks MC_StepRefPulse, MC_MoveRelative, and MC_SetPosition to make a sequence that detects the C channel, performs an offset move away from the C channel, and sets a home position.

This function block commands a move to an absolute position using a two staged acceleration and deceleration.

This function block converts the MoveTime input into acceleration, velocity, and deceleration for a 1/3, 1/3, 1/3 trapezoidal move profile which will complete in the MoveTime specified. It uses the MC_MoveRelative function block.

This function block enables or disables the position limit function. It also allows continuous streaming of new position limits. This block uses MC_WriteBoolParameter, MC_ReadBoolParameter, MC_WriteParameter, and MC_ReadParameter.

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.

This function block reads the rated and peak speeds of a motor connected to the controller.

This function block was designed for use with the Y_AX_Home_LS_Pulse function block in the Axis Toolbox. It changes the enumerated type MC_Direction#positive_direction to MC_Direction#negative_direction or vice versa so that the function can move the motor one direction into a limit switch with MC_StepRefLimit, and the other direction when searching for the Index Pulse with MC_StepRefPulse.

This function block enables or disables the velocity limit function. It also allows continuous streaming of new velocity limits. This block uses MC_WriteBoolParameter, MC_ReadBoolParameter, MC_WriteParameter, and MC_ReadParameter.

This function block commands a group of discrete output bits analogous to a set of mechanical cam controlled switches driven by a rotating shaft. Forward and backward movements are allowed. A maximum of 32 outputs and 256 switches are supported.