Input Description

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Function Block MC_StepAbsSwitch

Note

The inputs marked with a triangle 905159cb982982490a33139000fd3a3d_78f228175b765b440a33139001315693 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 of the motion if any:

  • MC_Positive = Starts in positive direction always.
  • MC_Negative = Starts in negative direction always.
  • MC_SwitchPositive = Depends on Switch status at Execute edge. If Switch is “Off”, direction is positive, if “On” it is negative.
  • MC_SwitchNegative = Like previous, but opposite.

SwitchMode

Data type: MC_HOMING_SWITCH

Sensor condition to finalize this Function Block in any switch mode:

  • MC_On = When sensor is ON.
  • MC_Off = When sensor is OFF.
  • MC_EdgeOn = When Off to On transition in sensor.
  • MC_EdgeOff = When On to Off transition in sensor.

Velocity

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

Value of the maximum velocity (not necessarily reached).

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.