MC_PositionProfile (FB)

FUNCTION_BLOCK MC_PositionProfile

This function block commands a time-position locked motion profile.

• MC_TProfile is an ABB specific data type.

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

• Alternatively to this function block, the CAM function block coupled to a virtual master can be used.

Example of Time/Position Profile

Note

The Time / Velocity and Time / Acceleration Profiles are similar to the Position Profile, with sampling points on the Velocity or Acceleration lines.

Note

Number_Of_Pairs input should always have equal to or less than actual pairs defined in TimePosition input

InOut:

Scope	Name	Type	Initial	Comment
Input	Execute	BOOL		Starts the function block at rising edge
	TimeScale	LREAL	1	Overall time scaling factor of the profile. Range: >0
	PositionScale	LREAL	1	Overall Position scaling factor. Range: PositionScale <> 0
	Offset	LREAL	0	Overall offset for profile, the profile result will be increased by Offset
	Number_Of_Pairs	INT		Number of sampling points, elements in TimePosition array. Range: >=2
	IsAbsolute	BOOL		Use absolute position values from profile. TRUE = Profile holds absolute position values
	iType	MC_ABB_iTypes_Enum		Type of interpolation. Possible values are: MCA_SPLINE_COMPLETE MCA_SPLINE_NATURAL MCA_POLY5 MCA_POLY3 MCA_LINEAR
	TimePosition	POINTER TO MC_TProfile		Reference to Time/Position. MC_TProfile is an ABB specific data type IsAbsolute = TRUE, interpolation_point = Actual position IsAbsolute = FALSE, interpolation_point = 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 command from other PLCopen 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
Inout	Axis	Axis_Ref		Reference to axis