Table of Contents

IAxisStepperEL7031Parameter

Namespace
ZEquipmentBeckhoff
Extends
Inherited Properties
Inherited Methods
INTERFACE IAxisStepperEL7031Parameter EXTENDS ZEquipment.IAxisParameter

Properties

Booting 

PROPERTY Booting : IAxisStepperEL7031ParameterBooting

Property Value

IAxisStepperEL7031ParameterBooting

Drive 

PROPERTY Drive : IAxisStepperEL70xxParameterDrive

Property Value

IAxisStepperEL70xxParameterDrive

Target 

PROPERTY Target : IAxisStepperEL70xxParameterTarget

Property Value

IAxisStepperEL70xxParameterTarget

Methods

AddRequest 

METHOD AddRequest (
 [input] taskToken : ZCore.ITaskToken,
 [input] actionFlags : ZCore.ParameterChannelActionFlag,
 [input] parameter1 : DWORD,
 [input] parameter2 : DWORD,
 [input] parameterType : INT,
 [input] bufferPtr : ZCore.ZPointer,
 [input] bufferSize : UDINT)

Requests a parameter read or write from the fieldbus-slave, in this particular case from the axis instance. This could be a PlcOpen Axis (e.g. NC-Motion) or a CiA402 drive like Keba Drive D3. The actual meaning of the parameters is implementation dependent. Current implementations are:

It is important to note that this request gets processed right before an axis-action like MoveAbsolute, MoveVelocity or MoveRelative gets started and not any time sooner. It no action is started, there wont be any parameter written or read.

If you want to have general access to the drives or motion controllers parameter its better to instantiate the proper parameter channel in your application on your on, run the cyclic method and initialize the axis-fieldbus slave.

Inputs

taskToken ITaskToken

external instantiated TaskToken object can be given to get a signal if a specific request is done

actionFlags ParameterChannelActionFlag

actions to be performed for the following parameter. This is a flags parameter (several actions are possible)

parameter1 DWORD

index:=16#8020, subindex:=08 -> 16#802008 (CalibrationPosition); index:=16#8020, subindex:=0A -> 16#80200A (HomingSpeedSlow)

parameter2 DWORD

unused for CANopen objects

parameterType INT

see ZCore.ParameterChannelCanParameterType

bufferPtr ZPointer

Pointer to the location this method writes to or reads from

bufferSize UDINT

Size of the location buffer is pointing to