Calling up a function block

  1. To control the "ModelBasedMonitoring" function block, call up the function block instance in the "Main" action of the "User_PRG" program as follows:
    • The "Main" action is assigned to the free-running task. The user program (running a StateMachine and controlling the MultiMotion axes) is run in this task.
  2. For the time-critical calculations of torques, speed profiles and/or positioning profiles, a call-up must be undertaken in the same, higher priority task (which is also assigned to the MultiMotion axis).
Additional information