CFG_RA: RemoteAxis
(Original Document)
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Function Description
This function block configures a RemoteAxis.
Additional parameters EN and ENO may be configured.
FBD Representation
Representation:
LD Representation
Representation:
IL Representation
Representation: 
CAL CFG_RA_Instance (S:=CFG_RA1, R:=Reset, RA_ID:=RA1,
    VEL_UNIT:=MMF_DEG_PER_SEC, GEAR_NM:=360,
    GEAR_DN:=1048576, SERC_ADR:=SA2, MFB:=MFB,
    CFG_BLK:=RA_CFG_BLK, ERROR=>CFG_ERROR)
ST Representation
Representation: 
CFG_RA_Instance (S:=CFG_RA1, R:=Reset, RA_ID:=RA1,
    VEL_UNIT:=MMF_DEG_PER_SEC, GEAR_NM:=360,
    GEAR_DN:=1048576, SERC_ADR:=SA2, MFB:=MFB,
    CFG_BLK:=RA_CFG_BLK, ERROR=>CFG_ERROR) ;
Parameter Description
Description of input parameters:
Parameter
Data Type
Meaning
S
BOOL
Rising input starts configuration.
R
BOOL
Resets block and prevents configuration. It halts configuration at the end of the current step.
RA_ID
INT
Axis ID for RemoteAxis to be configured.
VEL_UNIT
UDINT
Velocity units for this axis.
GEAR_NM
REAL
Number of position units per unit of measure.
GEAR_DN
REAL
Number of revolutions.
SERC_ADR
INT
Axis ID of the SercosAxis with secondary feedback device.
IDN
UINT
SERCOSIDN of secondary feedback device (optional).
Description of in-output parameters:
Parameter
Data Type
Meaning
MFB
MMFBlock
Must be connected to the MMFStart block of 200 registers.
CFG_BLK
AXCfg
Data block where the Remote axis configuration data will be stored.
Description of output parameters:
Parameter
Data Type
Meaning
Q
BOOL
True when the configuration has completed (reset by R).
ERROR
INT
First error code that is generated during configuration.
Example
When CFG_RA turns on, the configuration of RA1 occurs and the configuration data is placed in the PLC register data block RA_CFG_BLK that is assigned at output pin CFG_BLK. For detailed information on the size and layout of this register data block refer to the AXCfg Data Structure. During the creation of RA1, axis SA2 is interrogated for the feedback register number where the RemoteAxis input counts will be located. The values placed in GEAR_NM and GEAR_DN represent the axis and drive units, respectively. In this example, the VEL_UNIT input pin is configured as degrees per second, so the axis units are degrees. The remote feedback axis units are set up as counts -- 1048576 counts per revolution. This is due to SERCOSSpecification IEC 1491 (IDN 179). Therefore, this number is fixed when using a Lexium drive at the value of 1048576. This EFB configuration sets up the gear ratio to be 1048576 counts per revolution of position change.
Runtime Errors
For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.