CMC_SIPosiLoop

The function block can be used for a simple interpolation. Alternatively, the function block CMC_SInterpolation can be used CMC_SInterpolation.

Behavior of inputs

Enable	Stop	Behavior
FALSE	-	Output Position = ActualPosition
TRUE	FALSE	Interpolates output Position to reach TargetPosition with the given velocity and acceleration.
TRUE	TRUE	Ramps down to velocity = 0.

Behavior of outputs

InSync	Active	Behavior
FALSE	TRUE	Function block is activated, position and velocity is not yet reached.
TRUE	FALSE	Funciton block is activated, position is reached, output Position = TargetPosition.
FALSE	FALSE	Funciton block is either disabled or stopped, velocity = 0.

Use in Combination with MC_MoveByExternalReference

This way, a positioning axis can be created with modifying the parameters for positioning “on the fly”, without the need of a certain statemachine to follow.

Use in Combination with MCA_SetDynamicFollower

The function block will smooth the movement when a group has to follow a conveyor. It will create defined ramps to accelerate to the conveyors position and also can be used to prevent a position jump when switching between 2 conveyors or before switching of the follower.

Use to Create a Simple, Basic Positioning Axis

A very basic, simple positioning axis can be created this way. Be aware that there is not additional check if the axis really follows, also no scaling for the position is included. If function block CMC_SIPosiLoop is used, it will check for position or velocity following error.

Cycle time which was used for a PM590 when calculating 100 simple axes in a PLC task and priority 10.