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Inhaltsverzeichnis
1 Vorwort ....................................................................................................................................................... 5
1.1
Hinweise zur Dokumentation ............................................................................................................ 5
1.2
Sicherheitshinweise .......................................................................................................................... 6
2 Genereller Aufbau ..................................................................................................................................... 7
2.1
Die Hydraulikbibliothek ..................................................................................................................... 7
2.2
Gliederung der Dokumentation......................................................................................................... 9
2.3
Funktionen, Bausteine und Typen (ab V3.0) .................................................................................. 10
3 PLCopen Motion Control ........................................................................................................................ 19
3.1
Administrative ................................................................................................................................. 19
3.1.1
MC_Power_BkPlcMc (ab V3.0) .......................................................................................... 19
3.1.2
MC_ReadActualPosition_BkPlcMc (ab V3.0) ..................................................................... 21
3.1.3
MC_ReadActualTorque_BkPlcMc (ab V3.0)....................................................................... 22
3.1.4
MC_ReadActualVelocity_BkPlcMc (ab V3.0) ..................................................................... 23
3.1.5
MC_ReadAxisError_BkPlcMc (ab V3.0) ............................................................................. 24
3.1.6
MC_ReadBoolParameter_BkPlcMc (ab V3.0) .................................................................... 24
3.1.7
MC_ReadDigitalOutput_BkPlcMc (ab V3.0) ....................................................................... 25
3.1.8
MC_ReadParameter_BkPlcMc (ab V3.0) ........................................................................... 26
3.1.9
MC_ReadStatus_BkPlcMc (ab V3.0).................................................................................. 27
3.1.10 MC_Reset_BkPlcMc (ab V3.0) ........................................................................................... 29
3.1.11 MC_ResetAndStop_BkPlcMc (ab V3.0) ............................................................................. 30
3.1.12 MC_SetOverride_BkPlcMc (ab V3.0) ................................................................................. 31
3.1.13 MC_SetPosition_BkPlcMc (ab V3.0) .................................................................................. 32
3.1.14 MC_SetReferenceFlag_BkPlcMc (ab V3.0)........................................................................ 33
3.1.15 MC_WriteBoolParameter_BkPlcMc (ab V3.0) .................................................................... 34
3.1.16 MC_WriteDigitalOutput_BkPlcMc (ab V3.0) ....................................................................... 35
3.1.17 MC_WriteParameter_BkPlcMc (ab V3.0) ........................................................................... 36
3.2
Motion ............................................................................................................................................. 37
3.2.1
MC_CamIn_BkPlcMc (ab V3.0) .......................................................................................... 37
3.2.2
MC_CamOut_BkPlcMc (ab V3.0) ....................................................................................... 39
3.2.3
MC_CamTableSelect_BkPlcMc (ab V3.0) .......................................................................... 40
3.2.4
MC_DigitalCamSwitch_BkPlcMc (ab V3.0) ........................................................................ 41
3.2.5
MC_EmergencyStop_BkPlcMc (ab V3.0.5) ........................................................................ 44
3.2.6
MC_GearIn_BkPlcMc (ab V3.0).......................................................................................... 45
3.2.7
MC_GearInPos_BkPlcMc (ab V3.0.33) .............................................................................. 47
3.2.8
MC_GearOut_BkPlcMc (ab V3.0)....................................................................................... 49
3.2.9
MC_Halt_BkPlcMc (ab V3.0) .............................................................................................. 50
3.2.10 MC_Home_BkPlcMc (ab V3.0) ........................................................................................... 51
3.2.11 MC_ImediateStop_BkPlcMc (ab V3.0.5) ............................................................................ 53
3.2.12 MC_MoveAbsolute_BkPlcMc (ab V3.0).............................................................................. 54
3.2.13 MC_MoveJoySticked_BkPlcMc (ab V3.0) .......................................................................... 56
3.2.14 MC_MoveRelative_BkPlcMc (ab V3.0)............................................................................... 57
3.2.15 MC_MoveVelocity_BkPlcMc (ab V3.0) ............................................................................... 59
3.2.16 MC_Stop_BkPlcMc (ab V3.0) ............................................................................................. 60
3.3
Datentypen ..................................................................................................................................... 62
3.3.1
Axis_Ref_BkPlcMc (ab V3.0).............................................................................................. 62
3.3.2
CAMSWITCH_REF_BkPlcMc (ab V3.0)............................................................................. 63
3.3.3
E_TcPlcBufferedCmdType_BkPlcMc ................................................................................. 64
3.3.4
E_TcMcCurrentStep (ab V3.0)............................................................................................ 65
3.3.5
E_TcMcDriveType (ab V3.0)............................................................................................... 67
3.3.6
E_TcMcEncoderType (ab V3.0).......................................................................................... 70
3.3.7
E_TcMCFbState (ab V3.0).................................................................................................. 73
3.3.8
E_TcMcHomingType (ab V3.0)........................................................................................... 73
3.3.9
E_TcMCParameter (ab V3.0) ............................................................................................. 74
3.3.10 E_TcMcProfileType (ab V3.0)............................................................................................. 83
3.3.11 E_TcMcPressureReadingMode (ab V3.0) .......................................................................... 84
3.3.12 MC_BufferMode_BkPlcMc (ab V3.0) .................................................................................. 84
TwinCAT PLC Hydraulics
Version: 1.2
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