Function that performs the axis zero cycle.
Syntax |
i32 mva_zc (i32 start, stru_mvzc stru [, i32 nDef=1] [, i32 holdFlag=0] [, real fr=1]) |
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start |
Flag to enable data re-acknowledgement (only if axes stopped). The flag is reset by RTE when the data is taken |
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stru |
Structure of type stru_mvzc containing motion-related parameters |
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nDef |
Size of the information array (number of axes involved). (optional, default 1) |
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holdFlag |
Flag to command HOLD status to the mission. (optional, default 0) |
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fr |
Speed reduction value (0-1). (optional, default 1) See fr |
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Result |
Variable containing information about the status of the function (see returns codes).
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Validity |
Rule |
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Note |
If n axes are specified, the movements are simultaneous. It is RTE's responsibility to update the predefined variable c0_done if the zero cycle execution is terminated successfully. You can increase the diagnostics in the report via the predefined variable sys_flag.14 |
NOTE: The micro channel index should be specified in the project configurator -> axes -> transducer, it can be overridden via the predefined variable u0_channel.
NOTE: From RTE 34.23.5, the position preset value can be changed until it is actually used. Which means that the preset value set will be the last value written into the instruction parameters.
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