MC_PositionProfile (FB)

FUNCTION_BLOCK MC_PositionProfile

This function block follows a trajectory given by an array of (time, position) values.

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.

  • The number of points of the profile is limited to 100. If more is required, MC_CamIn with a virtual master axis offers a much more flexible functionality, also supporting periodic operation and ramping in. See also the warnings below for further restrictions of this function block.

Example

../../../_images/PositionProfileExample.png

Time/Position profile

See also MC_VelocityProfile and MC_AccelerationProfile.

Warning

InOut:

Scope

Name

Type

Initial

Comment

Inout

Axis

AXIS_REF_SM3

Reference to axis

TimePosition

MC_TP_REF

Reference to time/position description

Input

Execute

BOOL

Rising edge: Starts the execution of the function block.

ArraySize

INT

Dimension of the array

PositionScale

LREAL

1

Overall position scaling factor

Offset

LREAL

Overall position offset ([u])

Output

Done

BOOL

TRUE: The profile has been completed.

Busy

BOOL

TRUE: The execution of function block has not been finished yet.

CommandAborted

BOOL

TRUE: The command has been aborted by another command.

Error

BOOL

TRUE: Error has occurred within the function block.

ErrorID

SMC_ERROR

Error identification