FC_PosStartSmooth - General Information

Overview

Task

Start positioning motion.

Description

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 processed after sending the instruction. It does not wait until positioning is completed.

Interface

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_rSmooth	REAL	Jerk limiting (0 -> none, 100 -> maximum jerk limiting)
i_etPosMode	ET_PosMode	ET_PosMode
i_diJobId	DINT	Job number

Return Value

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: i_lrPosition false -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

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: i_lrPosition false

-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