MCA_SetPositionContinuous¶
This Function Block shifts the coordinate system of an axis by manipulating either the set-point position or the actual position of an axis. This can be used for instance for a reference situation “on the fly” where no abrupt position change is allowed, eg when a slave axis is linked to the modified axis. This Function Block can also be used during motion without changing the commanded position, which is now positioned in the shifted coordinate system. A continuous position correction will be achieved, with a defined profile.
Note
- The Function Block is allowed in any state except ErrorStop or Homing. In Discrete Motion, just mode SUPER = TRUE is possible.
- The block will not change the axis state even when it results in a movement.
- With Super = TRUE, the axis will hold the setpoint position while an offset is applied to the actual position. This will result in a movement as the position control loop will keep the distance between setpoint- and actual position constant. A slave axis will not see this movement and will not follow. When the block is ready, the axis will have moved physically by -Distance but the positions in AXIS_REF will not have been changed.
- With Super = FALSE, the behavior equals MC_SetPosition, but executed continuously. The axis will physically stay where it is but the actual position and setpoint-position are modified. A slave axis will follow.
- With Super = FALSE: When it is acceptable and required to correct the position with a jump, use Acceleration = -1.
See the following chapter to check if this Function Block is supported by the used axis implementation: Overview
For this Function Block there is a visualization in the Library MC_Blocks_AC500_V11.
See the following chapter for a list of available data types: Overview