MC_MoveRelative_PTO: Command Relative Axis Movement
To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation.
This table describes the input variables:
|
Input |
Type |
Initial Value |
Description |
|---|---|---|---|
|
Axis |
AXIS_REF_PTO |
- |
Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration. |
|
Execute |
BOOL |
FALSE |
On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates. |
|
Distance |
DINT |
0 |
Relative distance of the motion in number of pulses. The sign specifies the direction. |
|
Velocity |
DINT |
0 |
Target velocity in Hz, not necessarily reached. Range: 1...MaxVelocityAppl |
|
Acceleration |
DINT |
0 |
Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl Range (ms): MaxAccelerationAppl...100,000 |
|
Deceleration |
DINT |
0 |
Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl Range (ms): MaxDecelerationAppl...100,000 |
|
BufferMode |
MC_BUFFER_MODE |
mcAborting |
|
|
JerkRatio1 |
INT |
0 |
Percentage of acceleration from standstill used to create the S-curve profile. |
|
JerkRatio2 |
INT |
0 |
Percentage of acceleration to constant velocity used to create the S-curve profile. |
|
JerkRatio3 |
INT |
0 |
Percentage of deceleration from constant velocity used to create the S-curve profile. |
|
JerkRatio4 |
INT |
0 |
Percentage of deceleration to standstill used to create the S-curve profile. |
This table describes the output variables:
|
Output |
Type |
Initial Value |
Description |
|---|---|---|---|
|
Done |
BOOL |
FALSE |
If TRUE, indicates that the function block execution is finished with no error detected. |
|
Busy |
BOOL |
FALSE |
If TRUE, indicates that the function block execution is in progress. |
|
Active |
BOOL |
FALSE |
The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis. |
|
CommandAborted |
BOOL |
FALSE |
Function block execution is finished, by aborting due to another move command or an error detected. |
|
Error |
BOOL |
FALSE |
If TRUE, indicates that an error was detected. Function block execution is finished. |
|
ErrorId |
PTO_ERROR |
PTO_ERROR.NoError |
When Error is TRUE: code of the error detected. |
NOTE:
oThe function block completes with velocity zero if no further blocks are pending.
oIf the distance is too short for the target velocity to be reached, the movement profile is triangular, rather than trapezoidal.
oIf a motion is ongoing, and the commanded distance is exceeded due to the motion parameters, the direction reversal is automatically managed: the motion is first halted with the deceleration of the MC_MoveRelative_PTO function block, and then the motion resumes backwards.
oThe acceleration/deceleration duration of the segment block must not exceed 80 seconds.
The diagram illustrates a simple profile from Standstill state:
The diagram illustrates a complex profile from Continuous state:
The diagram illustrates a complex profile from Continuous state with change of direction:
The diagram illustrates a complex profile from Discrete state:
The diagram illustrates a complex profile from Discrete state with change of direction:
