LXM_UPLOADMTASK

Function Description

MotionTasks are created by a UniLink (by GMT) and saved directly to the EEPROM memory of the Lexium 15MP/LP/HP.

The LXM_UPLOADMTASK function is used to save the MotionTask parameters of the servodrive to a PLC memory zone.

This function is applicable on the Lexium 15MP/LP/HP servodrive only.

NOTE: Before executing this function, the servodrive status must be Disabled.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

LD Axis

CAL LXM_UPLOADMTASK_Instance (AXIS:=AXIS, EXECUTE:=EXEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID, PARAMETERSET=>PS, SIZE=>S)

Representation in ST

Representation:

LXM_UPLOADMTASK_Instance (AXIS:=AXIS, EXECUTE:=EXEC, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID, PARAMETERSET=>PS, SIZE=>S);

Description of the Output Parameters

The following table describes the output parameters that are in addition to the basic parameters:

Parameter	Type	Comment
PARAMETERSET	ANY_ARRAY_BYTE	The byte table where the Motion Tasks are saved (DDT structure). This table depends on the number of Motion Function Blocks used in the project. For Lexium 17/15MP the byte table is equal to: 12 + 27 MT number x bytes For Lexium 15LP the byte table is equal to: 12 + 29 MT number x bytes MT: Motion Task
SIZE	UINT	Size of the byte table corresponding to the PARAMETERSET parameter.