SINGLE_AXIS_T(501)
SINGLE_AXIS_T (501)
ID 501
|
Application: |
PLC |
Group: MOTION
Short description:
Function that performs a movement with linear interpolation between 3 axes. (Trapezoidal speed profile)
Inputs (12):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
yes ( 0->1 ) |
start |
Starting positioning |
|
2 |
B |
yes ( 0->1 ) |
stop |
Stopping the movement |
|
3 |
R |
- |
x |
Target position |
|
6 |
R |
- |
vmax |
Resultant movement speed |
|
7 |
R |
- |
v0 |
Starting movement speed |
|
8 |
R |
- |
vend |
Ending movement speed |
|
9 |
R |
- |
acc |
Acceleration |
|
10 |
R |
- |
dec |
Braking |
| 11 | R | - | s_in | Position from the previous cycle |
Note: Input parameters: vmax, acc, dec must be non-zero otherwise the block will not move.
Values
Outpus (3):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
B |
no |
In_motion |
=1 when the motion is in progress |
| 2 | B | no | done | End of motion |
| 3 | B | no | error | =0 when there are no errors |
| 4 | R | - | s_out | position |
| 5 | R | - | v_out | speed |
| 6 | R | - | a_out | acceleration |
Settings: none
Description:
After receiving the signal at the 'start' input, the block generates the trajectory of movement in each subsequent cycle. The speed, position, and acceleration of each axis are transferred to the block outputs.