SMC_TrackSetValues (FB)¶

FUNCTION_BLOCK SMC_TrackSetValues

This function block tracks a given signal. The axis will try to follow the signal as closely as possible while repecting the given maximum velocity, acceleration, deceleration, and jerk. The tracked signal is given in form of the position, velocity, acceleration, and jerk at the end of each bus task cycle.

In contrast to SMC_FollowPosition, SMC_FollowPositionVelocity, and SMC_FollowSetValues, the given set position, velocity, acceleration and jerk is not simply applied to the axis. Instead, the axis tries to reach the desired values in the shortest time. At the same time, it will respect the input 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 tracked signal is stationary and the function block is in sync.

The position of the tracked signal (fSetPosition) may either be linear or modulo, with the modulo period given in input SignalModuloPeriod. Independently, the axis may either be finite or modulo. The modulo period of the signal and the axis may be different.

InOut:

Scope	Name	Type	Comment
Inout	`Axis`	AXIS_REF_SM3
Input	`bExecute`	`BOOL`	Rising edge: Starts the execution of the function block.
	`fSetPosition`	`LREAL`	Set position in [u]
	`fSetVelocity`	`LREAL`	Set velocity in [u/s]
	`fSetAcceleration`	`LREAL`	Set acceleration in [u/s²]
	`fSetJerk`	`LREAL`	Set jerk in [u/s³]
	`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`	Maximum 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`.
	`SignalModuloPeriod`	`LREAL`	The modulo period of the signal or 0 if the signal is linear. Must not be negative.
Output	`bBusy`	`BOOL`	`TRUE`: Execution of the function block is not 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.