MC_AccelerationProfile (FB)¶
FUNCTION_BLOCK MC_AccelerationProfile
This function block follows a trajectory given by an array of (time, acceleration) values.
Note
If
Axis
does not reach standstill after this movement and no subsequent movement is commanded in the same cycle whenDone
is set, thenAxis
switches to theerrorstop
state and reports errorSMC_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.
See also MC_PositionProfile and MC_VelocityProfile.
Warning
MC_MoveSuperimposed is not supported on top of
MC_AccelerationProfile
.MC_SetOverride does not influence
MC_AccelerationProfile
Forecasts that are set up by SMC_SetForecast are not supported.
- InOut:
Scope
Name
Type
Initial
Comment
Inout
Axis
Reference to axis
TimeAcceleration
Reference to time/acceleration description
Input
Execute
BOOL
Rising edge: Starts the execution of the function block.
ArraySize
INT
Dimension of the array
AccelerationScale
LREAL
1
Overall acceleration scaling factor
Offset
LREAL
Overall acceleration offset ([u/s²])
Output
Done
BOOL
TRUE
: Profile has been completed.Busy
BOOL
TRUE
: Execution of the function block has not been finished.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