Overview
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Type:
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Function
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Available as of:
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SystemInterface_1.32.6.0
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Versions:
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Current version
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Task
Create a phase shift of the logical encoder position.
Description
This function starts a positioning with the phase generator of the logical encoder i_stLEncId. A modification of the positioning is caused by starting a new positioning. A restart lets you modify the parameters.
If a Setpos function is executed while positioning is active, the travel path remains unchanged, only the position counters change.
Interface
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Input
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Data type
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Description
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i_stLEncId
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ST_LogicalAddress
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Logical address of the encoder
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i_lrPosition
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LREAL
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Encoder position
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i_rVelocity
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REAL
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Maximum velocity
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i_rAcceleration
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REAL
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Maximum acceleration
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i_rDeceleration
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REAL
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Maximum deceleration
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i_etPosMode
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ET_PosMode
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ET_PosMode
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Return Value
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Data type
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Description
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DINT
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0: OK
-1: i_stLEncId is invalid
-2: i_rVelocity <= 0
-3: i_rAcceleration or i_rDeceleration <= 0
-4: i_etPosMode is invalid
-5: PhaseEnable = FALSE
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