ST_MultiPosStep - General Information
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Type: |
Data structure |
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Available as of: |
V1.0.3.0 |
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Inherits from: |
- |
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Versions: |
Current version |
Data structure for a step of the motion table of the FB_MultiPos function block
In each step, a target position or a distance can be specified. If lrPos = 0 and etMode = Endless or Relative, this will not be interpreted as a positioning and no parameters for velocity, acceleration, etc. need to be specified.
Rounding:
Positionings can be specified with an end velocity lrEndVel <> 0. Thereby, the step does not continue operating when the target position is reached but as soon as the positioning has been started. In this way, a continuous positioning without any drop in velocity is achieved. However, the output of the following step is set after the start of positioning.
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Variable |
Data type |
Description |
|---|---|---|
|
diStepNo |
DINT |
Number in ascending sequence (1, 2, 3, or 10, 20, 30 ... ); 0 = End of the table |
|
lrPos |
LREAL |
Target position or distance of the motion |
|
etPosMode |
Type of positioning |
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|
lrVel |
LREAL |
Velocity in units/s. Value range: 0 ... MaxVel. |
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lrEndVel |
LREAL |
Velocity in units/s at the end of the positioning. Value range: 0 ... MaxVel. |
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lrAcc |
LREAL |
Acceleration in units/s2. Value range: >0 ... MaxAcc. |
|
lrDec |
LREAL |
Deceleration in units/s2. Value range: >0 ... MaxAcc. |
|
lrJerk |
LREAL |
Preset of the maximum jerk in units/s3 |
|
diStepRepeat |
DINT |
Branching out only occurs after the first step when all repetitions are processed. In single step mode (i_xSingleStepMode), only a start for the entire step is required. diStepRepeat = 0 means a single implementation of the step. |
|
timDwellTime |
TIME |
Dwell time after positioning. Only after this period of time has elapsed, will there be a switchover of the next step. If positioning is not programmed, the dwell time starts immediately. Dwell time has no effect during rounding. |
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byStartCondition |
BYTE |
Start condition for this step |
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byOutput |
BYTE |
Bit pattern which is active at output q_byOutput while the step is active |
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diJumpStep |
DINT |
If the jump condition (byJumpCond) is fulfilled, jumping to a step (diStepNo) is specified using diJumpStep. Jumps can be in all directions including within the step itself. The jump is executed at the end of the step. |
|
byJumpCondition |
BYTE |
Jump condition for diJumpStep |
