MC_LoadProfile (FB)

FUNCTION_BLOCK MC_LoadProfile

This Function Block commands a time-load locked motion profile. The load in the final element in the profile should be maintained. The state remains ‘ContinuousMotion’.

Following points gives more details on using the function block

• An array of MC_TProfile has to be created to hold pairs of Load/time. The address of this array has to be used at the TimeLoad input.

• The values “first_derivative” and “second_derivative” are just used when a polynomial interpolation is applied.

• When the first delta_time value is different from 0, this time is used to approach the first load value. Otherwise, the first value is used as a jump.

Note

This functionality does not mean it runs one profile over and over again: it can switch between different profiles.

Note

When ProfileCompleted = TRUE (profile is completed), Axis will run with the last load value.

InOut:

Scope	Name	Type	Initial	Comment
Input	Execute	BOOL		Starts the function block at rising edge.The axis will be controlled with the last load value from the profile, and be kept in load control when finished.
	TimeScale	LREAL	1	Scaling for time value in profile. Range: TimeScale > 0
	LoadScale	LREAL	1	Scaling for load value in profile. Range: LoadScale <> 0
	Offset	LREAL		[u] = technical unit. Overall offset for torque, force or pressure profile
	Number_Of_Pairs	INT		Number of sampling points (time/load). Value should be less than or equal to Array size of TimeLoad input. Range: Number_Of_Pairs >2
	iType	MC_ABB_iTypes_enum		Type of interpolation. Possible values are: MCA_SPLINE_COMPLETE, MCA_SPLINE_NATURAL, MCA_POLY5, MCA_POLY3, MCA_LINEAR
	TimeLoad	POINTER TO MC_TProfile		Reference to time/load. MC_TProfile is an ABB specific data type
	Direction	MC_Direction	Default	Supported direction: Positive, negative, current, default. The direction determines if just positive or negative load values are to be limited, or both (default)
	BufferMode	MC_BufferMode		Not supported, default mcABORTING used
Output	ProfileCompleted	BOOL		Profile completed, Commanded position finally reached
	Busy	BOOL		The function block is not finished
	Active	BOOL		Indicates that the function block has control on the axis
	CommandAborted	BOOL		Command is aborted by another command from other PLCopen function block
	Error	BOOL		Signals that error has occurred within function block
	ErrorID	AC500_MotionControl.ERROR_ID		Error identification. For error details refer to enumeration ERROR_ID from AC500_MotionControl library
Inout	Load_Axis	Load_Ref		Reference to axis