MC_VelocityProfile (FB)¶

FUNCTION_BLOCK MC_VelocityProfile

This function block is designed for commanding a time-velocity locked motion profile.

Note

If Axis does not reach standstill after this movement and no subsequent movement is commanded in the same cycle when Done is set, then Axis switches to the errorstop state and reports error SMC_MOVING_WITHOUT_ACTIVE_MOVEMENT.

Hint

A shift between different profiles can be managed.

Alternatively to MC_VelocityProfile, a cam function block coupled to a virtual master can be employed.

Warning

MC_MoveSuperimposed is not supported on top of MC_VelocityProfile
Forecasts that are set up by SMC_SetForecast are not supported.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Axis`	AXIS_REF_SM3		Reference to axis
Inout	`TimeVelocity`	MC_TV_REF		Reference to time/velocity description
Input	`Execute`	`BOOL`		Rising edge: Starts the execution of the function block.
	`ArraySize`	`INT`		Dimension of the array
	`VelocityScale`	`LREAL`	1	Overall velocity scaling factor
	`Offset`	`LREAL`		Overall velocity offset ([u/s])
Output	`Done`	`BOOL`		`TRUE`: Profile has been completed.
	`Busy`	`BOOL`		`TRUE`: Execution of function block has not been finished yet.
	`CommandAborted`	`BOOL`		`TRUE`: Command has been aborted by another command.
	`Error`	`BOOL`		`TRUE`: Error has occurred within the function block.
	`ErrorID`	`SMC_ERROR`		Error identification