The following has been defined for instancing and calling up the PLCopen FB:
Notice
MCV_P4_PLATFORM operation criteria
Folgen
The generic MCV_AxesGroup of the PLCopen axes groups are instanced and called up in the ISG-MCP. The relevant code is implemented in the MCV_P4_PLATFORM FB.
Each PLC application using function blocks of PLCopen specification Part 4, must call the only one instance of function block MCV_P4_PLATFORM in the project, before other function blocks for motion control are called. This ensures that one instance of the generic MCV_AxesGroup FB is computed in each PLC cycle for each axes group.
Application programmers must ensure instancing and calling up of all PLCopen FB serving programming of the application (e.g. motion sequence) in one application program.
Before we call the function blocks for motion control the first time the HLI (interface to the MC) must be initialized, and the only one instance of MCV_PlatformBase in the PLC project must notify the successful initialization of MCP.
Figure 1-9: Application frame for axes group motion applications
In the MCV_P4_PLATFORM initialization an AXES_GROUP_REF structure is assigned to each axes group, available as elements of the globally defined gAxesGroupRef array.
