Y_AX_JogToPosition
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| V | Forward | BOOL | Runs the axis in a forward direction when TRUE. | FALSE |
| V | Reverse | BOOL | Runs the axis in a Reverse direction when TRUE. | FALSE |
| B | Velocity | LREAL | Absolute value of the velocity in user units/second. | LREAL#0.0 |
| B | Acceleration | LREAL | Value of the acceleration in user units/second^2 (acceleration is applicable with same sign of torque and velocity). | LREAL#0.0 |
| B | Deceleration | LREAL | Value of the deceleration in user units/second^2 (deceleration is applicable with opposite signs of torque and velocity). | LREAL#0.0 |
| E | Jerk | LREAL | Not supported; reserved for future use. Use S-Curve parameters 1300 and 1301. Value of the jerk in [user units / second^3]. | LREAL#0.0 |
| V | StopPosition | LREAL | Once the Forward and Reverse inputs are false, the axis will decelerate to a stop at the specified StopPosition using the specified deceleration rate. | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | InVelocity | BOOL | Set high when the axis first reaches the specified velocity (function is complete). This output is reset when execute goes low. | |
| B | Done | BOOL | Turns on for one scan when the axis comes to a stop after both Forward and Reverse inputs go FALSE. | |
| B | Busy | BOOL | Set high upon the rising edge of the Forward or Reverse inputs, and reset when Done, CommandAborted, or Error is true. | |
| B | CommandAborted | BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when Forward or Reverse inputs go low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when Forward or Reverse inputs go low. | |
Notes:
The velocity, acceleration, and deceleration can be changed on the fly without toggling the Forward or Reverse input. The code inside this function block will detect if the input values have changed, and automatically re trigger the MC_MoveVelocity function block inside. Changes in Acceleration and Deceleration are detected and can be changed on the fly.
Error Description:
Example 1
In the first example the speed is low enough and the deceleration high enough that the axis can stop within one revolution. This is the easiest condition.
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Example 2
In this example, the axis requires about 13 revolutions to come to a stop at the specified velocity and deceleration. The data "SlowNow" in green is an internal monitoring bit which results from a calculation made to determine a position that will allow the motion profile to follow the deceleration rate to the specified StopPosition. Notice there is a very brief delay between the time the Forward jog request is removed and the axis starts decelerating. This allow the axis to decelerate smoothly to the StopPositiion. The pink data indicates when the MC_MoveAbsolute is active.
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Example 3
The third example shows a deceleration to stop at 52 degrees.
Needs new graphic. MPiec graphic included for reference:
