VECTOR_T (500)
VECTOR_T (178)
ID 500
|
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 X |
|
4 |
R |
- |
y |
Target position Y |
|
5 |
R |
- |
z |
Target position Z |
|
6 |
R |
- |
vel |
Resultant movement speed |
|
7 |
R |
- |
vel_begin |
Starting movement speed |
|
8 |
R |
- |
vel_end |
Ending movement speed |
|
9 |
R |
- |
acc |
Acceleration |
|
10 |
R |
- |
dec |
Braking |
Note: input parameters: vel, acc, dec, acc_jerk, dec_jerk must be non-zero otherwise the block will not move.
Values
Outputs (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 |
Settings:
|
no. |
type |
mark |
notes |
|
1 |
I |
X_axis |
No. of the axis related to the axis X |
|
2 |
I |
Y_axis |
No. of the axis related to the axis Y |
|
3 |
I |
Z_axis |
No. of the axis related to the axis Z |
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 appropriate registers assigned to the virtual axis data. The movement takes place in a straight line with the resultant speed set at the block input. The resultant initial speed of the movement is vel_begin, the end speed is vel_end.