SMC_ControlAxisByPosVel (FB)

FUNCTION_BLOCK SMC_ControlAxisByPosVel

This function block writes the set position fSetPosition and the set velocity fSetVelocity to the axis drive structure and monitors axis for jumps in a similar way to SMC_ControlAxisByPos. SMC_ControlAxisByPosVel is mostly used with CNC and an instance of the SMC_Interpolator.

Note

For direct checking of the set value of the axis, one of the SMC_Follow* blocks should be used.

See also: SMC_ControlAxisByPos

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3		Reference to axis See also: AXIS_REF_SM3
Input	iStatus	SMC_INT_STATUS		Status of the instance of SMC_Interpolator
	bEnable	BOOL		TRUE: Starts execution
	bAvoidGaps	BOOL	TRUE	TRUE: Monitoring of position and velocity If the velocity exceeds the limit value fSWMaxVelocity which is set in Axis and configured in the drive dialog with the maximum values setting, then bStopIpo is set to TRUE. The axis is moved with the values fGapVelocity, fGapAcceleration, fGapDeceleration and fGapJerk to the set position and brought to the set velocity. On reaching the set values bStopIpo is set to FALSE.
	fSetPosition	LREAL		Set position of the axis. Typically connected to the output of the transformation block.
	fSetVelocity	LREAL		Set velocity in [u/s]
	fGapVelocity	LREAL		Velocity for the bypassing of the jump in [u/s]
	fGapAcceleration	LREAL		Acceleration for the bypassing of the jump in [u/s2]
	fGapDeceleration	LREAL	1E+15	Deceleration for the bypassing of the jump in [u/s2] Note: also used if bAvoidGaps is FALSE, for stopping when disabled
	fGapJerk	LREAL	1E+16	Jerk for the bypassing of the jump in [u/s3] Note: also used if bAvoidGaps is FALSE, for stopping when disabled
Output	bBusy	BOOL		TRUE: Function block operating
	bCommandAborted	BOOL		TRUE: Execution was interrupted by another function block instance operating on Axis.
	bError	BOOL		TRUE: Error has occurred
	iErrorID	SMC_ERROR		Error identification
	bStopIpo	BOOL		TRUE: Jump in velocity or position occurred and adaptation to new position is running If bStopIpo is connected to the EmergencyStop input of the SMC_Interpolator instance, the interpolator waits until the axis is correctly positioned. See also: SMC_ERROR