MC_MoveAbsolute
|
Application: |
PLC |
SIM |
Short description:
This Function Block commands a controlled motion to a specified absolute position.
Inputs (9):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
yes | Execute | Start the action at rising edge |
| 2 | B | no | ContinuousUpdate | |
| 3 | REAL | no | Position | Commanded ‘Position’ for the motion (in technical unit [u]) (negative or positive) |
| 4 | REAL | no | Velocity | Value of the maximum ‘Velocity’ (not necessarily reached) [u/s] |
| 5 | REAL | no | Acceleration | Value of the ‘Acceleration’ (always positive) (increasing energy of the motor) [u/s2 ] |
| 6 | REAL | no | Deceleration | Value of the ‘Deceleration’ (always positive) (decreasing energy of the motor) [u/s2 ] |
| 7 | REAL | no | Jerk | Value of the ‘Jerk’ [u/s3 ]. (always positive) |
| 8 | INT | no | Direction | Enum type (1-of-4 values: mcPositiveDirection, mcShortestWay, mcNegativeDirection, mcCurrentDirection) |
| 9 | INT | no | BufferMode | Defines the chronological sequence of the FB. See 2.4.2 ‘Aborting versus Buffered modes’ |
Outputs (6):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
no |
Done |
Commanded position finally reached |
| 2 | B | no | Busy | The FB is not finished and new output values are to be expected |
| 3 | B | no | Active | Indicates that the FB has control on the axis |
| 4 | B | no | CommandAborted | ‘Command’ is aborted by another command |
| 5 | B | no | Error | ‘Signals that an error has occurred within the Function Block |
| 6 | INT | no | ErrorID | Error identification |
Settings:
|
no. |
type |
mark |
notes |
| 1 | INT | AxisID | associated axis number |
Operation description:
Notes:
- This action completes with velocity zero if no further actions are pending
- If there is only one mathematical solution to reach the ‘CommandedPosition’ (like in linear systems), the value of the input ‘Direction’ is ignored
- For modulo axis - valid absolute position values are in the range of [0, 360[, (360 is excluded), or corresponding range. The application however may shift the ‘CommandedPosition’ of MC_MoveAbsolute into the corresponding modulo range.
- The Enum type ‘mcShortestWay’ is focused to a trajectory which will go through the shortest route. The decision which direction to go is based on the current position where the command is issued.
R registers and M markers used: none