FC_PosStartJerk - General Information
|
Type: |
Function |
|
Available as of: |
SystemInterface_1.32.6.0 |
|
Versions: |
Current version |
Start positioning motion.
A positioning job is entered into the master preparation buffer of axis i_stAxisId. If no master job is active, the job is started.
The program is further processed after sending the instruction. That means it does not wait until positioning is completed.
oThe positioning process starts with the instantaneous acceleration
oAllows you to preset acceleration at the end of the positioning process
oAllows you to preset the maximum jerk i_rJerk in units/s3 of the positioning process. There is no longer any need for i_rSmooth
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Input |
Data type |
Description |
|---|---|---|
|
i_stAxisId |
ST_LogicalAddress |
Logical address of the axis |
|
i_lrPosition |
LREAL |
Encoder position |
|
i_rVelocity |
REAL |
Maximum velocity |
|
i_rEndVelocity |
REAL |
Maximum end velocity |
|
i_rAcceleration |
REAL |
Maximum acceleration |
|
i_rDeceleration |
REAL |
Maximum deceleration |
|
i_rEndAcceleration |
REAL |
Maximum end acceleration |
|
i_rJerk |
REAL |
Maximum jerk |
|
i_etPosMode |
ET_PosMode |
|
|
i_diJobId |
DINT |
Job number |
|
Data type |
Description |
|---|---|
|
DINT |
1: Job buffer was not free and was overwritten with the current job 0: OK -1: Logical address of the axis (i_stAxisId) is invalid -2: Incorrect position -3: i_rVelocity <=0 or >Velmax; i_rEndVelocity <-Velmax or >Velmax -4: i_rAcceleration, i_rDeceleration <=0 or >Accmax -5: Sercos bus is not in phase 4; therefore no positioning commands can be processed -6: Parameter i_rJerk is outside the permitted limits |
