Y_AX_MoveAbsolute_2Stage
This function block commands a move to an absolute position using a two staged acceleration and deceleration.
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 | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| B | Position | LREAL | A positive or negative value within the coordinate system in user units. | LREAL#0.0 |
| 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) This acceleration will be applied when Velocity is less than AccChangeVelocity. | LREAL#0.0 |
| B | Acceleration2 | LREAL | Value of the acceleration in user units/second^2 (acceleration is applicable with same sign of torque and velocity) This acceleration will be applied when Velocity is greater than AccChangeVelocity. | LREAL#0.0 |
| V | AccChangeVelocity | LREAL | Velocity at which motion will transition from using Acceleration to Acceleration2. | 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.) This deceleration will be used when Velocity is less than the DecChangeVelocity. | LREAL#0.0 |
| B | Deceleration2 | LREAL | Value of the deceleration in user units/second^2 (deceleration is applicable with opposite signs of torque and velocity.) This deceleration will be used when Velocity is greater than the DecChangeVelocity. | LREAL#0.0 |
| V | DecChangeVelocity | LREAL | Velocity at which motion will transition from using Deceleration to Deceleration2. | 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 |
| B | Direction | MC_Direction | Specifies the direction of motion. Allowable modes are positive_direction, shortest_way, negative_direction, current_direction. | MC_Direction#Positive_Direction |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute or Enable input, and reset when Done, CommandAborted, or Error is true. | |
| B | Active | BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| 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 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes:
Error Description:
See the
Function Block ErrorID List.
Example:
Power on the Axis and Execute the Function Block.
The Logic Analyzer trace for the function block execution is shown below:
