Y_HoldPosition
This Function Block's purpose is After the axis has held position, the Done output is set to TRUE. As soon as ‘Done’ is SET, the axis goes to the ‘StandStill’ state. to sync up the commanded position when transitioning from a non-position-control mode (torque/velocity) to a position control mode. This should only be done while stationary (speed = zero), because the behavior of stopping in this mode is controlled by servo parameters.
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 |
| 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. | |
| E | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | 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. | |
| E | 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. | |
Error Description
See the
Function Block ErrorID List
Notes
Transitioning from Torque or Velocity modes to position mode:
- Torque mode (via MC_TorqueControl or Y_DirectControl) --> ramp down to 0 speed --> Y_HoldPosition --> MC_MoveAbsolute (Position Mode discrete move)
- Velocity mode (via Y_DirectControl) --> ramp down to 0 speed --> Y_HoldPosition --> MC_MoveAbsolute (Position Mode discrete move)