About Goldfinger

Goldfinger · ‎07-01-2024

Hello Bruce, regarding point 1): arAxisStatus_gb[AxisA.AxisNo].Admin.CmdDone is immediately reset when you trigger a motion command. This is new in the MotionInterface on the CORE. CmdDone is now a property and i think you can use it for your entry action. Hth, Klaus

Goldfinger · ‎07-14-2022

Hello, i still recommend to use the CXA_MotionInterfaceUser.library. Maybe something like a CXA_MotionInterfaceMLC_User.library would be helpfull for customers coming from the MLC? I think, what you are missing is a part of the method TE_AxisInterface.mInitExtension() from the CXA_MotionInterfaceUser.library. Background: the AxisCtrl and AxisStatus are no longer "normal" structures. They are build up by function blocks that are connected to the FB MB_AxisInterfaceBase. This allows the usage of properties and variables in AxisCtrl and AxisStatus. Why so complex? This is more performant and allows to react direct on user inputs, e.g. CmdDone can be checked direct after an _OpMode assingment. Hope this helps, Klaus

Goldfinger · ‎07-07-2022

Hello Brian, regarding: since the template is now part of a compiled libary I can't see what's going inside, otherwise maybe I could figure out what else I need. The part, that was imported on the MLC is in CXA_MotionInterfaceUser.library and you can open it and have a look. You can also adapt this library to your needs. See documentation: https://docs.automation.boschrexroth.com/doc/158732724/introduction-and-overview/latest/en/ Best regards, Klaus

Goldfinger · ‎01-25-2022

Hello, both AxisInterface and KinematicInterface are on the CORE implemented with the help of properties. This allows the checking of CmdDone in the same PLC cycle of a move command. This is a new feature compared with the MLC implementation. With sending a new move command, the CmdDone Flag is cleared (in the property of the move command). When you encounter a different behaviour, we need more details to check it. Best regards, Klaus

Goldfinger · ‎01-21-2022

Hello, the right side of your assignment is defined as a REFERENCE TO (this is internal a pointer): PROPERTY ActPosition : REFERENCE TO ARRAY [0..(MB_KINIF_NOF_POINT-1)] OF LREAL This REFERENCE TO is set during initialization of the kinematic interface and after a finished initialization you will no longer encounter the problem. This does not happen, when you check the InitDone of the Kinematic interface like it is done in the demo program. IF NOT TE_KinInterfaceMainProg.InitDone OR TE_KinInterfaceMainProg.Error THEN RETURN; // do not continue, when Motion is not in RUN or initialization failed. END_IF Hope this helps, Klaus P.S.: sorry for the delayed answer. We had an internal communication failure between STS and DEV 🤔😉

About Goldfinger

Re: Detecting Motion is complete

Re: How to use Axis Interface without template?

Re: How to use Axis Interface without template?

Re: Kinematics intercace behaves differently toAxisInterface

Re: PLC exception with MB_KINF_NOF_Point