5-24
Commissioning and Parameterization
Rexroth IndraMotion MLD
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
These are some examples of code for access to the elements of
"AxisData".
Declaration in MX_Base.lib:
AxisData : ARRAY[1..8] OF MX_AXISDATA;
Examples for use in the PLC program:
bMyStandstill := AxisData[MyAxis.AxisNo].Axis_Standstill;
AxisData[MyAxis.AxisNo].dwUserCmdDataA_q.REAL := rMyValue;
rTorque := AxisData[Axis3.AxisNo].rActualTorqueForce_i;
Free Process Data in MLD-M
In MLD-M it is possible to define additional cyclic process data for specific
requirements. This is not necessary for normal motion tasks but can
make sense for specific constellations.
Other cyclic actual values and command values can be configured in the
IndraWorks dialog "CCD: Free process data".
Note:
The parameters set in this dialog are automatically added to
the cyclic command values or actual values of the respective
axis. A list of all cyclic parameters can be seen in the CCD
dialog (see "CCD: diagnosis, process data, command values
or actual values").
In the example below, an additional command value has been configured;
the PLC register P-0-1370 of MLD-M is cyclically transmitted to slave #1
to parameter S-0-0048.
DB000234v01_en.tif
Fig. 5-22:
Free process data configuration
Accessing Elements in
"AxisData"
Parameterization
