SMC_TrackAxis (FB)¶

FUNCTION_BLOCK SMC_TrackAxis

This function block tracks a master axis. The slave axis will try to follow the master as closely as possible while repecting the given maximum velocity, acceleration, deceleration, and jerk.

During execution, the axis is in state synchronized_motion. The function block will keep ownership of the axis until it is aborted by another movement. The ownership is kept even if the master is in standstill and the function block is in sync.

InOut:

Scope	Name	Type	Comment
Inout	Master	AXIS_REF_SM3
	Slave	AXIS_REF_SM3
Input	bExecute	BOOL	Rising edge: Starts the execution of the function block.
	Velocity	LREAL	Maximum velocity in technical units per second [u/s]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute.
	Acceleration	LREAL	Maximum acceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute.
	Deceleration	LREAL	Maximum magnitude of deceleration in [u/s²]. Must be positive. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute.
	Jerk	LREAL	Maxmimum magnitude of jerk in [u/s³]. Must be positive if the axis has a jerk limited velocity profile. This input may change each call. Changes are taken into account continuously, not only on a rising edge of bExecute.
Output	bBusy	BOOL	TRUE: Execution of the function block has not been finished.
	bCommandAborted	BOOL	TRUE: Command has been aborted by another command.
	bError	BOOL	TRUE: Error has occurred within the function block.
	iErrorID	SMC_ERROR	Error identification
	bInSync	BOOL	Whether the axis is in sync with the given set values.