MC_WriteParameter (FB)

FUNCTION_BLOCK MC_WriteParameter

It will support the Parameters defined as “standard” in the PLCopen. These parameters will be transfered to the units as used for PLCopen function blocks

When a drive based axis implementation is used, the function block writes the value of a drive specific parameter or a PLCopen parameter. When the Central Motion Control axis implementation is used, a parameter according to the list PLCopen parameter is written

Parameter No(PN)	Name	DataType	Min.	Max.	Default	R/W	Comments
1	CommandedPosition	DINT				R	Commanded Position
2	SWLimitPos	DINT	-2147483647	2147483647	2147483647	R/W	Positive Software limit switch position
3	SWLimitNeg	DINT	-2147483647	2147483647	-2147483647	R/W	Negative Software limit switch position
4	EnableLimitPos	BOOL	FALSE	TRUE	FALSE	R/W	Enable positive software limit switch
5	EnableLimitNeg	BOOL	FALSE	TRUE	FALSE	R/W	Enable negative software limit switch
6	EnablePostLagMonitoring	BOOL	FALSE	TRUE	TRUE	R/W	Enable monitoring of position lag (following error)
7	MaxPositionLag	DINT	1	2147483647***		R	Maximal position lag
8	MaxVelocitySystem	DINT			32767	R	Maximal allowed velocity of the axis in the motion system
9	MaxVelocityAppl	DINT	0**	32767	32767	R/W	Maximal allowed velocity of the axis in the application
10	ActualVelocity	DINT	-32767	32767		R	Actual velocity
11	CommandedVelocity	DINT	-32767	32767		R	Commanded Velocity
12	MaxAccelerationSystem	DINT			32767	R	Maximal allowed acceleration of the axis in the motion system
13	MaxAccelerationAppl	DINT	10	32767	32767	R/W	Maximal allowed acceleration of the axis in the application
14	MaxDecelerationSystem	DINT			32767	R	Maximal allowed deceleration of the axis
15	MaxDecelerationAppl	DINT	10	32767	32767	R/W	Maximal allowed deceleration of the axis
16	MaxJerk	DINT	0*	2147483647	2147483647	R/W	Maximal allowed jerk of the axis
2001	MODULO_NOMINATOR	DINT	1	2147483647	1	R/W	ABB specific parameter. Used for Central Motion Control implementation: Gearbox modifier to MODULO_RANGE
2002	MODULO_DENOMINATOR	DINT	1	2147483647	1	R/W	ABB specific parameter. Used for Central Motion Control implementation: Gearbox modifier to MODULO_RANGE
2003	EnableLimit2Decelerate	BOOL	FALSE	TRUE	FALSE	R/W	Enable software limit switches to decelerate
2004	EnableLimitAbort	BOOL	FALSE	TRUE	FALSE	R/W	Enable that software limit switches will abort ongoing movement
2005	EnableLimitVelocity	BOOL	FALSE	TRUE	FALSE	R/W	If the velocity is limited the unmoved position will be covered whenever possible
2006	SWLimit2DecPos	LREAL	-2147483647	2147483647	2147483647	R/W	Used as end position for EnableLimit2Decelerate
2007	SWLimit2DecNeg	LREAL	-2147483647	2147483647	2147483647	R/W	Used as end position for EnableLimit2Decelerate
2008	MaxPositionGapLL	LREAL	0	214748364700	0	R/W	Used to stop the ongoing movement if position is behind

*0 means: no limitation of jerk is performed.

**Axis will stay in stop.

***Is modified by CMC_Axis_Control_Parameter, the maximum Value is calculated in increments, the value which is delivered by ReadParameter will be given in [u].

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	ParameterNumber	WORD	Number of the parameter (correspondence between number and parameter is to be specified later)
	Value	DINT	New value of the specified parameter
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
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Axis	Axis_Ref	Reference to axis