Technical data

Contents
CPU 317T: Technology Functions
x A5E00251798-03
6 Technology functions 6-1
6.1 Overview ...........................................................................................................6-1
6.2 Technology functions - Single axis ...................................................................6-3
6.2.1 FB 401 MC_Power - Enable / disable axis .......................................................6-3
6.2.2 FB 403 MC_Home - Axis homing / setting......................................................6-11
6.2.3 FB 404 MC_Stop - Stop axes / prevent new motion commands....................6-19
6.2.4 FB 405 MC_Halt - Normal stop.......................................................................6-25
6.2.5 FB 409 MC_ChangeDataset - Changing the data set ....................................6-31
6.2.6 FB 410 MC_MoveAbsolute - Absolute positioning .........................................6-37
6.2.7 FB 411 MC_MoveRelative - Relative positioning ...........................................6-52
6.2.8 FB 412 MC_MoveAdditive - Additive positioning to current target position....6-67
6.2.9 FB 413 MC_MoveSuperImposed - Superimposed positioning.......................6-73
6.2.10 FB 414 MC_MoveVelocity - Moving with speed preset ..................................6-79
6.2.11 FB 415 MC_MoveToEndPos - Move to mechanical end stop / clamping ......6-90
6.2.12 FB 437 MC_SetTorqueLimit - Enable / disable torque reduction ...................6-97
6.3 Technology functions - Synchronism ............................................................6-101
6.3.1 FB 420 MC_GearIn - Start gear synchronization..........................................6-101
6.3.2 FB 422 MC_GearOut - End gear synchronization ........................................6-111
6.3.3 FB 421 MC_CamIn - Start cam synchronization...........................................6-116
6.3.4 FB 423 MC_CamOut - End cam synchronism..............................................6-132
6.3.5 FB 424 MC_Phasing - Change phase shift between master
and slave axes ..............................................................................................6-137
6.3.6 FB 441 MC_CamInSuperImposed -
Start superimposing cam synchronism.........................................................6-142
6.3.7 FB 443 MC_CamOutSuperImposed-
Terminate superimposing cam synchronism ................................................6-151
6.3.8 FB 440 MC_GearInSuperImposed -
Start superimposing gear synchronism.........................................................6-155
6.3.9 FB 442 MC_GearOutSuperImposed -
Terminate superimposing gear synchronism................................................6-166
6.3.10 FB 444 MC_PhasingSuperImposed - Change superimposing phase shift ..6-170
6.4 Technology functions - Cam disks ................................................................6-177
6.4.1 FB 434 MC_CamClear - Deleting cams........................................................6-177
6.4.2 FB 435 MC_CamSectorAdd - Adding cam segments ..................................6-180
6.4.3 FB 436 MC_CamInterpolate - Interpolating cams.........................................6-187
6.4.4 FB 438 MC_GetCamPoint - Reading points from the cam disk ...................6-192
6.5 Technology functions - Cams, measuring sensors, external encoders ........6-196
6.5.1 FB 430 MC_CamSwitch - Position-based cam.............................................6-196
6.5.2 FB 431 MC_CamSwitchTime - Time-based cam..........................................6-200
6.5.3 FB 433 MC_MeasuringInput - Measuring sensor .........................................6-203
6.5.4 FB 432 MC_ExternalEncoder - External encoder.........................................6-207
6.6 Technology functions - Basic functions.........................................................6-211
6.6.1 FB 402 MC_Reset - Error acknowledgement ...............................................6-211
6.6.2 FB 406 MC_ReadSysParameter - Reading parameters ..............................6-215
6.6.3 FB 407 MC_WriteParameter - Changing parameters...................................6-218
6.6.4 FB 450 MC_ReadPeriphery - Reading technology I/O.................................6-226
6.6.5 FB 451 MC_WritePeriphery - Writing technology I/O ...................................6-231
6.6.6 FB 453 MC_ReadRecord - Reading data record..........................................6-236
6.6.7 FB 454 MC_WriteRecord - Writing data record ............................................6-240
6.6.8 FB 455 MC_ReadDriveParameter - Reading drive parameters ...................6-244
6.6.9 FB 456 MC_WriteDriveParameter - Writing drive parameters......................6-248