MCA_SetPositionContinuous (FB)

FUNCTION_BLOCK MCA_SetPositionContinuous

This function block modifies the position of an axis with a defined profile.

This function block shifts the coordinate system of an axis by manipulating either the setpoint position or the actual position of an axis. This can be used for instance for a reference situation “on the fly” where no abrupt position change is allowed, example when a slave axis is linked to the modified axis. This function block can also be used during motion without changing the commanded position, which is now positioned in the shifted coordinate system. A continuous position correction will be achieved, with a defined profile.

• The function block is allowed in any state except ErrorStop or Homing. In Discrete Motion, just mode SuperImp = TRUE is possible.

• The block will not change the axis state even when it results in a movement.

• With SuperImp = TRUE, the axis will hold the setpoint position while an offset is applied to the actual position. This will result in a movement as the position control loop will keep the distance between setpoint- and actual position constant. A slave axis will not see this movement and will not follow. When the block is ready, the axis will have moved physically by -Distance but the positions in Axis_Ref will not have been changed.

• With SuperImp = FALSE, the behavior equals MC_SetPosition, but executed continuously. The axis will physically stay where it is but the actual position and setpoint position are modified. A slave axis will follow.

• With SuperImp = FALSE: When it is acceptable and required to correct the position with a jump, use Acceleration = -1.

Note

The result will be lost when using MC_SetPosition, execute a Homing, or set Enable = FALSE for CMC_Basic_Kernel.

Note

To stop the motion, the function block has to be interrupted by activating a new instance of this function block.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	SuperImp	BOOL	Defines 2 different modes. TRUE= Superimposed movement
	Distance	LREAL	[u] = Technical unit, Relative distance for the motion. Range: Maximum range is 16#7FFFFFFF in increments, if configured in units, range will be limited to equivalent of 16#7FFFFFFF increments
	Velocity	LREAL	[u/s] Value of the maximum velocity (not necessarily reached). Range: >0
	Acceleration	LREAL	[u/s°°2] Value of the acceleration (increasing energy of the motor). Range: >0.
	Deceleration	LREAL	[u/s°°2] Value of the deceleration (decreasing energy of the motor). Range: >0.
	Jerk	LREAL	[u/s°°3] Value of the jerk. Range: >=0
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	Done	BOOL	Shows the status of the function block. Done = TRUE if the execution is finished
	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 instance of this function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
	CoveredDistance	LREAL	Shows the progress, starts with 0 and ends with CoveredDistance = Distance. The value is valid while the function block is active
Inout	Axis	Axis_Ref	Reference to axis