Table of Contents

Class AxisFunctions

Namespace
TwinSharp.NC
Assembly
TwinSharp.dll

The AxisFunctions class provides a set of methods to control and manage the behavior of an axis in a TwinCAT NC system. It allows for operations such as resetting, stopping, referencing, and setting positions of the axis. Additionally, it supports advanced operations like controlled ramps, emergency stops, reversing operations, and sinus oscillation sequences. The class interacts with the TwinCAT system using an AdsClient to send commands and data to the specified axis.

public class AxisFunctions
Inheritance
AxisFunctions
Inherited Members

Methods

ActivateCompleteAxis()

Activate complete axis (enable)

public void ActivateCompleteAxis()

ActivateDriveOutput()

Activate drive output (enable).

public void ActivateDriveOutput()

ChangeDriveOutput(DriveOutputStartType, double)

Change the drive output.

public void ChangeDriveOutput(DriveOutputStartType startType, double newValue)

Parameters

startType DriveOutputStartType
newValue double

Required output value (e.g. %)

ClearAxisTask()

Clear axis (task)

public void ClearAxisTask()

DeactivateCompleteAxis()

Deactivate complete axis (disable)

public void DeactivateCompleteAxis()

DeactivateDriveOutput()

Deactivate drive output (disable).

public void DeactivateDriveOutput()

EmergencyStopWithControlledRamp(double, double)

Emergency stop with controlled ramp

public void EmergencyStopWithControlledRamp(double deceleration, double jerk)

Parameters

deceleration double

Deceleration (must be greater than or equal to the original deceleration)

jerk double

Jerk (must greater than or equal to the original jerk)

ExtendedAxisStart(GroupAxisStartType, double, double, double, double, double)

Extended axis start.

public void ExtendedAxisStart(GroupAxisStartType startType, double targetPosition, double requireVelocity, double acceleration = 0, double deceleration = 0, double jerk = 0)

Parameters

startType GroupAxisStartType
targetPosition double
requireVelocity double
acceleration double

0 if internal TwinCAT acceleration should be used.

deceleration double

0 if internal TwiNCAT deceleration should be used.

jerk double

0 if internal TwinCAT jerk should be used.

NewEndPositionAxis(EndPositionType, double)

Set new end position (axis).

public void NewEndPositionAxis(EndPositionType endPositionType, double newEndPosition)

Parameters

endPositionType EndPositionType
newEndPosition double

New end position (target position)

OrientedStop(double, double, double)

Oriented stop (oriented end position). Only for PTP axes.

public void OrientedStop(double moduloEndPosition, double deceleration, double jerk)

Parameters

moduloEndPosition double
deceleration double
jerk double

ReferenceAxis()

Reference axis (calibration).

public void ReferenceAxis()

ReleaseParkingBrake(ushort)

Release parking brake? 0: automatic activation(default) 1: mandatorily always released Note: Reset to '0' when resetting the axis!

public void ReleaseParkingBrake(ushort release)

Parameters

release ushort

Reset()

Reset axis

public void Reset()

SetActualAxisPosition(ActualPositionType, double)

Set actual axis position

public void SetActualAxisPosition(ActualPositionType actualPositionType, double actualPosition)

Parameters

actualPositionType ActualPositionType
actualPosition double

SetActualPositionOnTheFly(ActualPositionType, int, double)

Set actual axis position on the fly (in motion of the axis)

public void SetActualPositionOnTheFly(ActualPositionType positionType, int controlword, double newActualPosition)

Parameters

positionType ActualPositionType
controlword int

Control double word, e.g. for "clearing the lag error

newActualPosition double

SetExternalAxisError(uint)

Set external axis error (runtime error)

public void SetExternalAxisError(uint errorCode)

Parameters

errorCode uint

StandardAxisStart(GroupAxisStartType, double, double)

Standard axis start.

public void StandardAxisStart(GroupAxisStartType startType, double endPosition, double velocity)

Parameters

startType GroupAxisStartType
endPosition double
velocity double

StartDriveOutput(DriveOutputStartType, double)

Start drive output.

public void StartDriveOutput(DriveOutputStartType startType, double value)

Parameters

startType DriveOutputStartType
value double

StartReversingOperation(GroupAxisStartType, double, double, double, double)

Start reversing operation for positioning (SERVO).

public void StartReversingOperation(GroupAxisStartType startType, double targePosition1, double targetPosition2, double velocity, double idleSeconds)

Parameters

startType GroupAxisStartType
targePosition1 double
targetPosition2 double
velocity double
idleSeconds double

StartReversingOperationVelocityJumps(GroupAxisStartType, double, double, double, double, uint)

Start reversing operation with velocity jumps (SERVO): (can be used to determine the velocity step response)

public void StartReversingOperationVelocityJumps(GroupAxisStartType startType, double velocity1, double velocity2, double travelSeconds, double idleSeconds, uint repetitionCount)

Parameters

startType GroupAxisStartType
velocity1 double
velocity2 double
travelSeconds double
idleSeconds double
repetitionCount uint

StartSinusOscillationSequence(double, double, double, double, double, double, double, uint)

Sine oscillation sequence

  • used as single sinus oscillation(sinus generator)
  • used as sinus oscillation sequence(e.g. for bode plot)
public void StartSinusOscillationSequence(double baseAmplitude, double baseFrequency, double startAmplitude, double feedConstantMotor, double startFrequency, double stopFrequency, double stepDurationSeconds, uint stepCycles)

Parameters

baseAmplitude double
baseFrequency double
startAmplitude double
feedConstantMotor double
startFrequency double
stopFrequency double
stepDurationSeconds double
stepCycles uint

Stop()

Stop axis

public void Stop()

StopDriveOutput()

Stop drive output.

public void StopDriveOutput()

StopWithControlledRamp(double, double)

Parameterizable stop (with controlled ramp). Only for PTP axes.

public void StopWithControlledRamp(double deceleration, double jerk)

Parameters

deceleration double
jerk double
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