Y_IM_054MM_AxisControl
The Y_IM_054MMAxisControl function block provides inputs for enabling/disabling the axis. The internal state machine is changed to get the axis ready for motion.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | #19516 | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| V | AlarmClear | BOOL | Clears axis related alarms using Y_IM_054MMReset. | FALSE |
| V | Mode | #66160 | Used to set the module's operation-mode. 1: PosMode, 3, VelMode | Yt_IM_054MM_StepperMode#NoMode |
| VAR_OUTPUT | ||||
| B | Status | BOOL | TRUE if the drive is enabled. This output is derived from the Status output of MC_Power. | FALSE |
| B | Busy | BOOL | For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs. | |
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE. | |
| E | ErrorID | UINT |
The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE. | |
| V | Warning | BOOL |
When TRUE, this output indicates that the operation-mode currently used by the module does not match the commanded operation-mode (the "Mode" input). When FALSE, this output indicates the operation-mode currently used by the module matches the commanded operation-mode (the "Mode" input). |
|
Notes- To change operational-modes, the axis must be disabled (i.e. the "Enabled" input and "Status" output must both be FALSE).
- The "Homing" mode cannot be set using this function block. To initiate homing, please use the #65216 or #65217 function blocks.
- Before executing this function block:
- An axis must be created under the "Motion Axes" node.
- The project's SliceBus "Module List" must be properly configured.
- A Y_IM_054MMDriver FB must be enabled and its "Valid" output must be "TRUE."
- The same axis in point 1 is attached to the function block in point 3.
- An axis must be created under the "Motion Axes" node.
- The project's SliceBus "Module List" must be properly configured.
- A Y_IM_054MMDriver FB must be enabled and its "Valid" output must be "TRUE."
- The same axis in point 1 is attached to the function block in point 3.
Error Description
See the Function Block ErrorID List.
Example
Instance of Y_IM_054MM_AxisControl executed before initiating Servo Axis motion.
