AM600
1.储存空间分配
| 区域 |
用途 |
大小 |
地址范围 |
| I区(%I)128KB |
用户使用区域 |
64kWords |
%IW0-%IW65535 |
| Q区（%Q)128KB |
用户使用 |
64kWords |
%QW0-%QW65535 |
| M区 |
用户使用 |
240kWords |
%MW0-%MW245759 |
| M区 |
SD元件 |
10000Words |
%MW245760-%MW255759 |
| M区 |
SM元件 |
10000Bytes |
%MB511520-%MB521519 |
| M区 |
保留 |
2768Bytes |
%MB521520-%MB524287 |
这其中有480KB用户可以直接使用。
2.变量数据类型
| 类型 |
关键字 |
范围 |
占用内存 |
| 布尔类型 |
BOOL |
TRUE，FALSE，1,0 |
8Bit |
| BIT类型 |
BIT |
TRUE，FALSE，0,1只能在结构体或者功能块中使用 |
1Bit |
| 整数 |
BYTE |
0-255 |
8Bit |
|
WORD |
0-65535 |
16Bit |
|
DWORD |
0-4294967295 |
32Bit |
|
LWORD |
0-2^e64 -1 |
64Bit |
|
SINT |
-128-127 |
8Bit |
|
USINT |
0-255 |
8Bit |
|
INT |
-32768-32767 |
16Bit |
|
UINT |
0-65535 |
16Bit |
|
DINT |
-2147483648-2147483647 |
32Bit |
| 类型 |
关键字 |
范围 |
占用内存 |
|
UDINT |
0-4294967295 |
32Bit |
|
LINT |
-2^e32-2^e32 -1 |
64Bit |
|
ULINT |
0-2^e64 -1 |
64Bit |
| 浮点类型 |
REAL |
1.401^e-45-3.203^e38 |
32Bit |
|
LREAL |
2.2250738585072014^e-308-1.7976931348623158^e+308 |
64Bit |
| 字符串 |
STRING |
只支持ACCII码字符（不支持中文字符）。默认长度80字符，超过最大长度会被去掉。可以声明字符最大长度，如str:STRING:=‘This is a String’；字符串函数最大支持255字符 |
ASCII形式存储字符串，用一个字节存储结束符 |
|
WSTRING |
只支持UNICODE字符（支持中文字符）。默认最大初度80字符，超过最大长度会被去掉。可以声明字符最大长度，如wstr:WSTRING(35):="THIS IS A WString" |
UNICODE形式存储字符串，用一个字节存储结束符 |
| 时间 |
TIME |
时间常量，日，时，分，秒，毫秒 |
32Bit，内部按Dword处理 |
|
TIME_OF_DAYE(TOD) |
一天时间常量 |
32Bit，内部按Dword处理 |
|
DATE |
日期常量，从1970年1月1日开始 |
32Bit，内部按Dword处理 |
|
DATE_AND_TIME(DT) |
日期和时间常量，从1970年1月1日开始 |
32Bit，内部按Dword处理 |
定时器相关
脉冲产生
-
定时器
out := TON1.Q; //输出模式
TON1(
PT := T#1S, //定时器时间
IN := NOT TON2.Q, //输入应该在的位置
Q => TON2.IN, //输出给到TON2的输入
);
TON2(
PT := T#1S,
);
-
将两个定时器串联之后，利用两个定时器来互相控制
-
将一个定时器中的引脚取反，反向之后给到另外一个的输入，完成一个复位操作，将定时器复位，然后即可完成定时脉冲
-
具体的逻辑：
开始接通之后定时器延迟一定时间之后接通，这时候接通之后定时器二开始计时，等到定时器二接通之后复位之前的定时器，这时候重新开始。
-
[x] 掌握：
-
[x] TP完成：
-
[x] TOF完成：
-
[x] 反向脉冲：
-
函数库
BLINK
(ENABLE := , //使能状态
TIMELOW := , //0位时间
TIMEHIGH := , //1位时间
OUT => //输出
);
轴控指令
1. 自带库
1.1. 使能
MC_Power(
Axis := , //对应轴
Enable := , //是否激活功能块
bRegulatorOn := , //位TRUE激活功能块使能状态
bDriveStart := , //为TRUE关闭功能块的紧急停止
Status => , //输出TRUE为轴使能完成
bRegulatorRealState => , //轴使能有效状态
bDriveStartRealState => , //在驱动器没有被快速停止时为TRUE
Busy => , //在驱动器没有处理完成之前为TRUE
Error => , //错误标识
ErrorID => );//对应错误编号
1.2. 点动
MC_Jog(
Axis := , //对应的轴
JogForward := , //注意F和B只能有一个为TRUE，两者同时为TRUE的时候就不会运动
JogBackward := ,
Velocity := , //点动速度
Acceleration := , //加速度
Deceleration := , //减速度
Jerk := ,
Busy => ,
CommandAborted => , //为TRUE在一个功能块被另外一个功能块中断的时候
Error => ,
ErrorId => );
1.3. 回零
/*************************************************
*1.作用是回归零点
*2.零点的返回需要有所搭配，对应接近开关
*************************************************/
MC_Home(
Axis := ,
Execute := ,
Position := , //信号到达时候的绝对位置
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
1.4. 复位
/*************************************************
*1.复位内部错误
*2.不能复位像掉线这样的错误
*************************************************/
MC_Reset(
Axis := ,
Execute := ,
Done => ,
Busy => ,
Error => ,
ErrorID => );
结构体&枚举&数组
结构体
TYPE St_PointAxis : //轴结构体参数
STRUCT
/****************输入参数***********************
*
*
*
*********************************************/
i_iGoabs_dir : INT; //轴运动方向
i_xReset : BOOL; //轴复位
i_xSerOn : BOOL; //轴使能
i_xStop : BOOL; //轴停止
i_xHalt : BOOL; //轴暂停
i_xHome : BOOL; //轴回零
i_xJogP : BOOL; //轴正向点动
i_xJogN : BOOL; //轴反向点动
i_xGoAbs : BOOL; //轴绝对定位
i_xGobRel : BOOL; //轴相对定位
i_xSetPos : BOOL; //轴位置设定
i_xGoVel : BOOL; //轴速度运行
i_xTorqueEnable : BOOL; //力矩控制使能
i_xVirtual : BOOL; //虚轴开关
i_fAxisAcc : LREAL := 1000; //加速度设定
i_fAxisDec : LREAL := 1000; //减速度设定
i_fJogVel : LREAL; //轴点动速度
i_fHome_Pos : LREAL; //轴回原偏置
i_fGoAbs_Pos : LREAL; //轴绝对定位位置
i_fGoAbs_Vel : LREAL; //轴绝对定位速度
i_fGoRel_Pos : LREAL; //轴相对定位位置
i_fGoRel_Vel : LREAL; //轴相对定位速度
i_fGoVel_Vel : LREAL; //轴速度模式速度
i_fSetPos_Pos : LREAL; //轴设定位置
i_fSetTorque : LREAL; //轴设定转矩
/****************输出参数***********************
*
*
*
*********************************************/
o_xFbErr : BOOL; //轴控功能块报错
o_xFbBusy : BOOL; //轴控功能块运行中
o_xFbDone : BOOL; //轴控功能块完成
o_iFbErrID : UDINT; //轴控功能块报错ID
o_xAxisStand : BOOL; //轴故障
o_xAxisRun : BOOL; //轴等待
o_iAxisState : INT; //轴状态机
o_xDriveRdy : BOOL; //站等待
o_xDriveEN : BOOL; //站运行
o_xDriveErr : BOOL; //站报错
o_xDriveAlarm : BOOL; //站报警
o_xPositiveLimit: BOOL; //轴正限位
O_xNegativeLimit: BOOL; //轴负限位
o_xHomeSwitch : BOOL; //轴原点开关
o_fActVel : LREAL; //轴实际速度
o_fActPos : LREAL; //轴实际位置
o_fActTor : LREAL; //轴实际转矩
o_xRestDone : BOOL; //轴复位完成
o_xResetErr : BOOL; //轴复位失败
/****************指针***********************
*
*
*
*******************************************/
pAxisETC : POINTER TO AXIS_REF_ETC_DS402_CS; //Ethercat轴结构体地址
pServer : POINTER TO ETCSlave; //站地址
END_STRUCT
END_TYPE
VAR_IN_OUT
stPointAxis : St_PointAxis;
END_VAR
stPointAxis.i_xReset := ;
枚举
TYPE Enum_StateMachine :
(
未就绪 := 0,
故障 := 1,
初始化中 := 2,
待机 := 3,
手动 := 4,
自动 := 5
);
END_TYPE
数组
凸轮函数使用
END_VAR
VAR_INPUT
i_xMasterMode : BOOL; //凸轮的主轴模式，0相对模式，1绝对模式
i_xSlaveMode : BOOL; //凸轮的从轴模式，0相对模式，1绝对模式
i_xPeriodic : BOOL; //凸轮周期模式，0非周期，1周期
i_pstCam : POINTER TO SMC_CAMXYVA; //凸轮点结构体
i_iNElements : INT; //凸轮点数
i_fXstart : LREAL; //凸轮主轴的起始位置
i_fXend : LREAL; //凸轮主轴结束位置
i_fMasterOffset : LREAL := 0; //主轴的偏移
i_fSlaveOffset : LREAL := 0; //从轴的偏移
i_fMasterScaling : LREAL := 1; //主轴缩放比
i_fSlaveScaling : LREAL := 1; //从轴缩放比
i_xExcute : BOOL; //触发信号
i_xStop : BOOL; //停止信号
END_VAR
VAR_OUTPUT
o_fMasterPos : LREAL; //凸轮中主轴位置
o_xEndProfile : BOOL; //凸轮周期结束信号
o_xInSync : BOOL; //凸轮同步中信号
o_xError : BOOL; //凸轮报错信号
o_eErrorID : SMC_ERROR; //错误信息
END_VAR
VAR
MC_CAM_REF_0 : MC_CAM_REF; //
MC_CamIn_0 : MC_CamIn; //
MC_CamTableSelect_0 : MC_CamTableSelect; //
MC_CamOUT_0 : MC_CamOut; //
MC_Stop_0 : MC_Stop; //
v_pstCamXYVAold : ARRAY[0..1024] OF SMC_CAMXYVA; //
i : INT; //循环使用
v_xPointChange : BOOL; //凸轮点需要修改标志
Rtring_PointChange : R_TRIG; //凸轮点需要修改信号的上升沿
Rtring_Excute : R_TRIG; //触发信号上升沿
Rtring_Stop : R_TRIG; //停止信号上升沿
v_xExcuCamtable : BOOL; //触发凸轮表信号
v_fXStartOLD : LREAL; //凸轮起始位置缓存
v_fXEndOld : LREAL; //凸轮结束位置缓存
rise_error : R_TRIG;
END_VAR
Rtring_Excute(
CLK := i_xExcute,
);
Rtring_PointChange(
CLK := v_xPointChange,
);
Rtring_Stop(
CLK := i_xStop,
);
MC_CamIn_0(
Master := master,
Slave := slaver,
EndOfProfile => o_xEndProfile,
);
IF Rtring_Excute.Q THEN
o_xError := FALSE;
o_eErrorID := 0;
END_IF
FOR i := 0 TO i_iNElements BY 1 DO
IF NOT (v_pstCamXyVaold[i].dx = i_pstCamXYVA[i].dX) OR NOT (i_pstCamXYVA[i].dy = v_pstCamXYVAold[i].dY)
OR NOT (v_pstCamXYVAold[i].dv = i_pstCamXYVA[i].dV) OR NOT (i_pstCamXYVA[i].da = v_pstCamXYVAold[i].da)
OR NOT (i_fXstart = v_fXEndOld ) OR NOT (i_fXend = v_fXEndOld) THEN
v_xPointChange := TRUE;
EXIT;
END_IF
END_FOR
IF v_xExcCamtable THEN
v_xExcCamtable := FALSE;
END_IF
IF v_xPointChange AND (MC_CamIn_0.EndOfProfile OR Rtring_Excute.Q) AND NOT i_xStop AND NOT o_xError THEN
FOR i := 1 TO i_iNElements BY 1 DO
v_pstCamXYVAold[i] := i_pstCamXYVA[i];
v_xExcCamtable := TRUE;
END_FOR
v_fXStartOLD := i_fXstart;
v_fXEndOld := i_fXend;
v_xPointChange := FALSE;
END_IF
MC_CAM_REF_0(
wCamStructID := ,
byType := 3,
byVarType := ,
xStart := v_fXStartOLD,
xEnd := v_fXEndOld,
nElements := i_iNElements,
nTappets := ,
pce := ADR(v_pstCamXYVAold),
pt := ,
dwTappetActiveBits := ,
strCAMName := ,
byInterpolationQuality := ,
byCompatibilityMode := ,
bChangedOnline := ,
xPartofLM := );
MC_CamTableSelect_0(
Master := master,
Slave := slaver,
CamTable := MC_CAM_REF_0,
Execute := (v_xExcCamtable OR (Rtring_Excute.Q AND NOT o_xInSync)) AND NOT i_xStop,
Periodic := i_xPeriodic,
MasterAbsolute := i_xMasterMode,
SlaveAbsolute := i_xSlaveMode,
Done => ,
Busy => ,
Error => ,
ErrorID => ,
CamTableID => );
MC_CamIn_0(
Master := master,
Slave := slaver,
Execute := MC_CamTableSelect_0.Done,
MasterOffset := i_fMasterOffset,
SlaveOffset := i_fSlaveOffset,
MasterScaling := i_fMasterScaling,
SlaveScaling := i_fSlaveScaling,
StartMode := absolute,
CamTableID := MC_CamTableSelect_0.CamTableID,
VelocityDiff := ,
Acceleration := ,
Deceleration := ,
Jerk := ,
TappetHysteresis := ,
InSync => o_xInSync,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => ,
EndOfProfile => ,
Tappets => );
MC_CamOUT_0(
Slave := slaver,
Execute := MC_CamOUT_0.Done,
Done => ,
Busy => ,
Error => ,
ErrorID => );
MC_Stop_0(
Axis := slaver,
Execute := MC_CamOUT_0.Done,
Deceleration := ABS(slaver.fSetVelocity * 100) + 1,
Jerk := ,
Done => ,
Busy => ,
Error => ,
ErrorID => );
rise_error(
CLK := MC_CamTableSelect_0.Error OR MC_CamIn_0.Error OR
MC_CamOUT_0.Error OR MC_Stop_0.Error,
);
IF rise_error.Q THEN
o_xError := TRUE;
o_eErrorID := MAX(MC_CamTableSelect_0.ErrorID,MC_CamIn_0.ErrorID,MC_CamOUT_0.ErrorID,MC_Stop_0.ErrorID);
END_IF
o_fMasterPos := MC_CamIn_0.xr;
电子齿轮
FUNCTION_BLOCK FB_AxisGear
VAR_IN_OUT
master : AXIS_REF_SM3; //主轴
slaver : AXIS_REF_SM3; //从轴
END_VAR
VAR_INPUT
i_xGearIn : BOOL; //齿轮耦合
i_xGearOut : BOOL; //齿轮脱离
i_diNumerator : DINT := 1; //齿轮分子
i_udiDenominator: UDINT := 1; //齿轮分母
END_VAR
VAR_OUTPUT
o_xIsGearing : BOOL; //齿轮进行
o_xGearDone : BOOL; //齿轮结束
o_xGearErr : BOOL; //齿轮故障
END_VAR
VAR
MC_GearIn_0 : MC_GearIn;
MC_GearOut_0 : MC_GearOut;
MC_Stop_0 : MC_Stop;
lrAccDec : LREAL;
END_VAR
lrAccDec := 4194300400 / slaver.fFactorVel;
(*----------------------------电子齿轮启动函数---------------------------------*
*
*
*
*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*)
MC_GearIn_0(
Master := master,
Slave := slaver,
Execute := i_xGearIn AND NOT i_xGearOut,
RatioNumerator := i_diNumerator,
RatioDenominator := i_udiDenominator,
Acceleration := lrAccDec,
Deceleration := lrAccDec,
Jerk := ,
InGear => ,
Busy => o_xIsGearing,
CommandAborted => ,
Error => ,
ErrorID => );
(*----------------------------电子齿轮关闭函数---------------------------------*
*
*
*
*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*)
MC_GearOut_0(
Slave := slaver,
Execute := i_xGearOut AND NOT i_xGearIn AND (o_xIsGearing OR MC_GearOut_0.Execute),
Done => ,
Busy => ,
Error => ,
ErrorID => );
MC_Stop_0(
Axis := Slaver,
Execute := MC_GearOut_0.Done OR MC_GearOut_0.Error,
Deceleration := lrAccDec,
Jerk := ,
Done => o_xGearDone,
Busy => ,
Error => ,
ErrorID => );
o_xGearErr := MC_GearIn_0.Error OR MC_GearIn_0.CommandAborted OR MC_Stop_0.Error;
轴控指令
FUNCTION_BLOCK FB_AxisControl
VAR_IN_OUT
stPointAxis : St_PointAxis;
END_VAR
VAR_INPUT
i_xManual : BOOL;
i_xJogP : BOOL;
i_xJogN : BOOL;
END_VAR
VAR_OUTPUT
END_VAR
VAR
v_xSerOff : BOOL; //使能关闭
v_iAxisState : INT; //轴复位步序
v_udiCount : UDINT;//计数
(**************ETC功能块实例化*************)
SMC3_ReinitDrive_ETC : SMC3_ReinitDrive;
SMC_SetControllerMode_ETC : SMC_SetControllerMode;
MC_SetPosition_ETC : MC_SetPosition;
MC_MoveAbsolute_ETC : MC_MoveAbsolute;
MC_MoveRelative_ETC : MC_MoveRelative;
MC_MoveAdditive_ETC : MC_MoveAdditive;
MC_MoveVelocity_ETC : MC_MoveVelocity;
SMC_SetTorque_ETC : SMC_SetTorque;
MC_Power_ETC : MC_Power;
MC_Reset_ETC : MC_Reset;
MC_Home_ETC : MC_Home;
MC_Stop_ECT : MC_Stop;
MC_Jog_ETC : MC_Jog;
MC_Halt_ETC : MC_Halt;
(**************ETC功能块实例化*************)
MC_MoveAbsolute_CO : MC_MoveABsolute_CO;
MC_MoveRelative_Co : MC_MoveRelative_CO;
MC_MoveVelocity_CO : MC_MoveVelocity_CO;
MC_Power_CO : MC_Power_CO;
MC_Reset_CO : MC_Reset_CO;
MC_Stop_CO : MC_Stop_CO;
MC_Jog_CO : MC_Jog_CO;
MC_Halt_CO : MC_Halt_CO;
(**************ETC功能块实例化*************)
MC_Moveabsolute_P : MC_MoveAbsolute_P;
MC_MoveRelative_P : MC_MoveRelative_P;
MC_MoveVelocity_P : MC_MoveVelocity_P;
MC_Power_P : MC_Power_P;
MC_Reset_P : MC_Reset_P;
MC_Home_P : MC_Home_P;
MC_Stop_P : MC_Stop_P;
MC_Jog_P : MC_Jog_P;
MC_Setposition_p : MC_SetPosition_P;
v_xJoging : BOOL;
in : INT;
END_VAR
stPointAxis.pAxisETC^.bVirtual := stPointAxis.i_xVirtual;
(**************ETC功能块实例化*************)
MC_Power_ETC(
Axis := stPointAxis.pAxisETC^,
Enable := TRUE,
bRegulatorOn := stPointAxis.i_xSerOn AND (NOT v_xSerOff),
bDriveStart := stPointAxis.i_xSerOn,
Status => ,
bRegulatorRealState => ,
bDriveStartRealState => ,
Busy => ,
Error => ,
ErrorID => );
MC_Stop_ECT(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xStop,
Deceleration := stPointAxis.i_fAxisAcc,
Jerk := ,
Done => ,
Busy => ,
Error => ,
ErrorID => );
MC_Halt_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xHalt,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_Home_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xHome,
Position := stPointAxis.i_fHome_Pos,
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_SetPosition_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xSetPos,
Position := stPointAxis.i_fSetPos_Pos,
Mode := ,
Done => ,
Busy => ,
Error => ,
ErrorID => );
MC_MoveAbsolute_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xGoAbs,
Position := stPointAxis.i_fGoAbs_Pos,
Velocity := stPointAxis.i_fGoAbs_Vel,
Acceleration := stPointAxis.i_fAxisAcc,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Direction := stPointAxis.i_iGoabs_dir,
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_MoveRelative_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xGoREl,
Distance := stPointAxis.i_fGoRel_Pos,
Velocity := stPointAxis.i_fGoRel_Vel,
Acceleration := stPointAxis.i_fAxisAcc,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_MoveAdditive_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := ,
Distance := ,
Velocity := ,
Acceleration := stPointAxis.i_fAxisAcc,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Done => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_MoveVelocity_ETC.Direction := - 1;
IF stPointAxis.i_fGoVel_Vel >= 0 THEN
MC_MoveVelocity_ETC.Direction := 1;
END_IF
MC_MoveVelocity_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := FALSE,
Velocity := ,
Acceleration := ,
Deceleration := ,
Jerk := ,
Direction := ,
InVelocity => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_MoveVelocity_ETC(
Axis := stPointAxis.pAxisETC^,
Execute := stPointAxis.i_xGoVel,
Velocity := stPointAxis.i_fGoVel_Vel,
Acceleration := stPointAxis.i_fAxisAcc,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Direction := ,
InVelocity => ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorID => );
MC_Jog_ETC(
Axis := stPointAxis.pAxisETC^,
JogForward := stPointAxis.i_xJogP,
JogBackward := stPointAxis.i_xJogN,
Velocity := stPointAxis.i_fJogVel,
Acceleration := stPointAxis.i_fAxisAcc,
Deceleration := stPointAxis.i_fAxisDec,
Jerk := ,
Busy => ,
CommandAborted => ,
Error => ,
ErrorId => );
MC_Reset_ETC(
Axis := stPointAxis.pAxisETC,
Execute := (stPointAxis.pAxisETC^.nAxisState = 1) AND (v_iAxisState =2),
Done => ,
Busy => ,
Error => ,
ErrorID => );
SMC3_ReinitDrive_ETC(
Axis := stPointAxis.pAxisETC^,
bExecute := (stPointAxis.pAxisETC^.nAxisState <> 1) AND v_iAxisState =3,
bVirtual := ,
bDone => ,
bBusy => ,
bError => ,
nErrorID => );
SMC_SetTorque_ETC(
Axis := stPointAxis.pAxisETC^,
bEnable := stPointAxis.i_xTorqueEnable,
fTorque := stPointAxis.i_fSetTorque,
bBusy => ,
bError => ,
nErrorID => );
stPointAxis.o_xFbErr := MC_Stop_ECT.Error OR MC_Home_ETC.Error OR MC_SetPosition_ETC.Error
OR MC_MoveAbsolute_ETC.Error OR MC_MoveRelative_ETC.Error OR MC_MoveAdditive_ETC.Error
OR MC_Jog_ETC.Error OR MC_MoveVelocity_ETC.Error OR MC_Power_ETC.Error
OR MC_Halt_ETC.Error OR SMC_SetTorque_ETC.bError;
stPointAxis.o_xFbDone := MC_Stop_ECT.Done OR MC_SetPosition_ETC.Done OR MC_Home_ETC.Done
OR MC_MoveAbsolute_ETC.Done OR MC_MoveRelative_ETC.Done OR MC_MoveAdditive_ETC.Done
OR MC_Halt_ETC.Done;
stPointAxis.o_xFbBusy := MC_Stop_ECT.Busy OR MC_Home_ETC.Busy OR MC_SetPosition_ETC.Busy
OR MC_MoveAbsolute_ETC.Busy OR MC_MoveRelative_ETC.Busy OR MC_MoveAdditive_ETC.Busy
OR MC_Jog_ETC.Busy OR MC_MoveVelocity_ETC.Busy OR MC_Halt_ETC.Busy;
stPointAxis.o_iFbErrID := DWORD_TO_UDINT(stPointAxis.pAxisETC^.fbeFBError[0].wID);
