Input Description

Function Block MC_StepRefPulse

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.

Direction

Data type: MC_HOMING_DIRECTION

Specifies the direction to start the motion, just MC_Positive and MC_Negative are possible to use:

• MC_Positive = Starts in positive direction always
• MC_Negative = Starts in negative direction always

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).

SetPosition

Data type: LREAL, unit: u

Value of the absolute position to be set when homing is done.

TorqueLimit

Data type: LREAL, unit: t.u.

Maximum torque or force. 0 = No torque limit.

Central Motion Control implementation (Compact Motion Control): TorqueLimit value will not be used.

TimeLimit

Data type: LREAL, unit: s

If the Function Block condition is not met in the TimeLimit, an error is issued.

0 = No time limit.

DistanceLimit

Data type: LREAL

If the Funciton Block condition is not met within a DistanceLimit travel, an error is issued.

0 = No distance limit.

BufferMode

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

Defines the behavior of the axis.

Axis

Data type: AXIS_REF

Reference to the axis.