GetCoordPos() cause Sys.WDTFault=1

[lovu]

struct coorddata* csdata;
unsigned inttt=1;
void user_plcc()
{
pshm->P[0]=GetCoordPos(inttt,csdata);
pshm->P[1]++;
pshm->P[2]=csdata[6].data;
}

 

Hello there,

I tried to query axis actpos in cplc, using function GetCoordPos(). Axis X/Y/Z were assigned to CS1 and X positon is non-zero. When running this cplc, p0..p2 always stays 0, ending up with background WDT trip Sys.WDTFault=1.Function GetCoordPos() seems to have been got stucked all the time. Anyone knows?

[steve.milici]

I suspect the function usage is not correct.

 

Please send me your full project to test at ODT's technical support (ATTN: Steve):

ODT-Support@omron.com

[Omron Forums Support]

The GetCoord... API functions are particularly difficult to use. Here is an example bgcplc that puts the position of the X axis motor in coordinate system 1 into P2.

 

void user_plcc()
{
struct coorddata MyCoordData[32];
pshm->P[0] = (double) GetCoordDesPos(1, &MyCoordData[0]);

double MyDesPosX;
pshm->P[1] = (double) GetCoordAxisData(2, (char *)"x", &MyCoordData[0], &MyDesPosX);
pshm->P[2] = MyDesPosX;

// One Shot Bgcplc
pshm->UserAlgo.BgCplc[0] = 0;
}

[lovu]

Oh, got it.

Thank you so much, steve and Eric!

[lovu]

B.T.W, function GetCoordDesPos() seems to add very much load to CPU[0], maybe it's better for users to perform axis position read in script environment.