MCA_Indexing (FB)

FUNCTION_BLOCK MCA_Indexing

This function block will, upon a rising edge on Execute, do a number of relative or absolute moves, listed in a table (Array of MCA_Pos_Ref).

The function block will position the axis to a complete stop at target position and continue with the next move from the table automatically.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	pPositions	POINTER TO MCA_Pos_Ref	POS_REF Reference to Structure or array with relative move distances listed. Typical type of Positions: LREAL, The array needs to have at least (TableIndex + MovesToDo-1) elements
	MovesToDo	WORD	Provide number of moves, not more then entries in Table
	TableIndex	WORD	Index to an array of MCA_Pos_Ref, points to the movement to be performed on rising edge of Execute, start with 1 for the first entry
Output	Done	BOOL	Shows the status of the function block. Done = TRUE if the execution is finished
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
	MovesPending	WORD	Indicates the number of moves still to execute
	IndexNo	WORD	Index executing or last index completed, starting with “1”
Inout	Axis	Axis_Ref	Reference to axis

Structure:

• MCA_Indexing.AKTION_Start (ACT)