MCA_PersistPosition (FB)

FUNCTION_BLOCK MCA_PersistPosition

This function block implements persisting the axis position of a multi-turn absolute encoder that has a range of 2^32 with real axis.

Note

This function block has to be called within the REAL-TIME task, same task as CMC_Basic_Kernel/CMC_Basic_Kernel64, such as MotionSolution_Task built by MotionWizard.

Note

This function block has to be called immediately after CMC_Basic_Kernel/CMC_Basic_Kernel64 and ECAT_CiA402_Control_App, and before all user programs.

Note

This fucntioin block will show error RestorePositionFailed but Busy = True, PositionStored = True, if it`s the first time that this function block is applied for an axis.

Note

Do not perform other axis operations until the position is successfully restored, that is, the output PositionRestored becomes True.

InOut:

Scope	Name	Type	Comment
Input	Enable	BOOL	Enable the Function Block if Enable = True
	CommunicationReady	BOOL	Communication is Ready means that the drive infomation can be receiced by the PLC, especially drive actual position. for EthercCAT with CM579, once the output CurrentState of function block CM579EcatBusDiag becomes to OP, that means communication is ready; for Onboard EthercCAT, once SlaveDevice.wState becomes to ETC_SLAVE_STATE.ETC_SLAVE_OPERATIONAL, that means communication is ready.
Inout	Kernel	CMC_Basic_Kernel64	Reference to CMC_Basic_Kernel64
	ControlParameter	CMC_Axis_Control_Parameter	Reference to CMC_Axis_Control_Parameter
	Axis	Axis_Ref	Reference to Axis_Ref
	PersistentData	ARRAY [0..7] OF LWORD	Reference to persistent data which stores position information, the variable must be declared as PERSISTENT and RETAIN variable.
Output	PositionRestored	BOOL	True indicates that the position has been restored during the kernel`s last start-up.
	PositionStored	BOOL	True indicates that the position has been stored during the last execution.
	Busy	BOOL	The FB is not finished, and new output values are to be expected
	Error	BOOL	Signals that an error has occurred within the Function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration AC500_MotionControl.ERROR_ID
	StoredAxisPosition	LREAL	The axis position stored in persistent variable
	StoredDrivePosition	DINT	The drive position stored in persistent variable