IF_MoveDirectly - Start (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

Task

Moving the carrier to a target position without considering other carriers.

Description

With the method IF_MoveDirectly - Start, the carrier is moved to a given target position without considering other carriers. The carrier is moved to the target with the velocity, the acceleration and the jerk that have been defined with the method SetMotionParameter.

NOTE: When executing this move command, you override previous move commands.

With the move command MoveDirectly, the carrier moves directly to the target position without considering the other carriers. Take this into account during path planning.

CAUTION
	CARRIER Collision Define the carrier path in a way that avoids collisions with other carriers. Failure to follow these instructions can result in injury or equipment damage.

NOTE: You can use the function block FB_CrashPrevention as an additional protection measure to help avoid collisions.

NOTE: If in case of an open-track system (see open track example), the target position exceeds the start or end hardware limits of the track, the carrier moves to the maximum position within the hardware limits.

With an open track, the carriers could leave the track at the ends. Therefore, mechanical hard stops must be mounted at both ends of an open track.

WARNING
	EQUIPMENT OPERATION HAZARD Mount mechanical hard stops at both ends of an open track. Failure to follow these instructions can result in death, serious injury, or equipment damage.

Feedbacks

Feedbacks are available in the interface IF_CarrierFeedbackMoveDirectly.

Inputs

Input	Data type	Value range	Unit	Description
i_lrTarget	LREAL	0.0 ≤ i_lrTarget ≤ lrTrackLength ⁽¹⁾	mm	Specifies the travel distance to the target. The travel distance to the target depends on the positioning mode defined by the parameter i_etPosMode.
i_etPosMode	ET_PosMode	–	–	For the positioning modes available, refer to the enumeration ET_PosMode.
(1) In the positioning modes Relative and Absolute, i_lrTarget is not limited to the track length as specified by the parameter lrTrackLength when the track in question is a closed track. For more information on the track length, refer to lrTrackLength.

Outputs

Output	Data type	Description
q_xError	BOOL	Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING [255]	Provides additional diagnostic and status information as a text message.

Call Examples

Before executing the method IF_MoveDirectly - Start, the method SetMotionParameter must be called at least once.

Example 1:

...ifMotion.SetMotionParameter(...)
...ifMoveDirectly.Start(...)

Example 2:

...ifMotion.SetMotionParameter(...)
...ifMoveDirectly.Start(...)
...ifMoveDirectly.Start(...)