Input Description

Function Block MCA_MovePathPos

Note

The inputs marked with a triangle are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.

Execute

Data type: BOOL

Starts the Function Block at rising edge.

Velocity

Data type: LREAL, range: > 0, unit: u/s

Value of the maximum velocity (not necessarily reached).

Acceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the acceleration (increasing energy of the motor).

Deceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the deceleration (decreasing energy of the motor).

Jerk

Data type: LREAL, range: > 0, unit: u/s:sup:3

Value of the Jerk.

PositionOffset

Data type: ARRAY [1..3] OF LREAL

Allows to define an offset to the position in PathData. The movement starts at actual position and positionOffset. This position should be the same as the first Path Position.

VelocityScaling

Data type: LREAL, default: 1

Allows to increase or decrease the path velocity.

PositionScaling

Data type: LREAL, default: 1

Allows to scale the position values defined in PathData.

BufferMode

Data type: MC_BUFFERMODE, default: MC_Aborting, no other modes supported

Defines the behavior of the axis.

TransitionMode

Data type: MC_TRANSITION_MODE

The realization just supports by default a transition starting with the actual velocity.

TransitionParameter

Data type: LREAL

Additional parameter for the transition mode.

PathDataRef

Data type: MC_PATH_DATA_REF

Reference to the path data which can be prepared by MC_PathSelect.

AxesGroup

Data type: AXES_GROUP_REF

Reference to a group of axes.