RCK_ManualOperation (FB)

FUNCTION_BLOCK RCK_ManualOperation

This function block is implemented to manually operate the cutter by Jog, absolute positioning, relative positiong or homing.

All these operations are activated when cutter state is in “Manual”, “RotartyStandby”, “Paused” or “Resuming”.

Note

All the units of inputs about position or velocity are the same as the unit of circumference of cutter set in RCK_Parameter.

Note

The homing sequence is not contained in, please instance one appropriate homing function block, and connect whose start trigger to the out HomingTrigger.

InOut:

Scope	Name	Type	Initial	Comment
Input	JogForward	BOOL	FALSE	Move forward as long as JogForward = TRUE
	JogBackward	BOOL	FALSE	Move backward as long as JogForward = TRUE
	MoveAbsolute	BOOL	FALSE	Move to a specified absolute position
	MoveRelative	BOOL	FALSE	Move to a specified relative distance
	Position	LREAL	0.0	[u] The target of the specified movement, for MoveAbsolute it`s the absolute position, range: >= 0 and < Circumference; for MoveRelatvie it`s the relative distance
	Velocity	LREAL	10	[u/s] The maximum velocity of the specified movement
	Acceleration	LREAL	50	[u/s2] The acceleration of the specified movement, Range: >=0. If value = 0, Acceleration will be equal to parameter paraMaxAccelerationAppl
	Deceleration	LREAL	50	[u/s2] The deceleration of the specified movement, Range: >=0. If value = 0, Deceleration will be equal to parameter paraMaxDecelerationAppl
	Jerk	LREAL	0.0	[u/s2] The Jerk of the specified movement, Range: >=0
	StartHoming	BOOL	FALSE	Starts homing sequence when StartHoming = True
	HomingDone	BOOL	FALSE	The feedback from homing function block to indicate that homing sequnce has done
	HomingError	BOOL	FALSE	The feedback from homing function block to indicate that error occurred during homing
Output	Done	BOOL		Shows the status of the command. Done = TRUE if the execution is finished
	Busy	BOOL		Indicates that the function block is not finished
	JogActive	BOOL		Indicates that Jog command is runnig
	MoveAbsActive	BOOL		Indicates that MoveAbsolute command is running
	MoveRelActive	BOOL		Indicates that MoveRelative comman is running
	HomingActive	BOOL		Indicates that Homing comman is running
	Error	BOOL		Signals that error has occurred within function block
	ErrorID	AC500_MotionControl.ERROR_ID		Error identification. For error details refer to Enumeration AC500_MotionControl.ERROR_ID
	AppErrorID	ERROR_ID		Error identification. For error details refer to Enumeration ERROR_ID
	HomingTrigger	BOOL		The trigger to make the homing function block to run
Inout	RotaryCutter	RCK_RotaryCutter		Reference to rotary cutter