SMC_FollowPositionVelocity (FB)¶

FUNCTION_BLOCK SMC_FollowPositionVelocity

This function block employment is equivalent to SMC_FollowPosition, except for the velocity that may be defined in addition.

Note

This function block does not support forecasts that are set up by SMC_SetForecast.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Axis`	AXIS_REF_SM3
Input	`bExecute`	`BOOL`		Rising edge: Starts the execution of the function block.
	`fSetPosition`	`LREAL`		Set position in technical units [u].
	`fSetVelocity`	`LREAL`		Set velocity in technical units/sec [u/s].
	`bFixedCoordinateSystem`	`BOOL`	TRUE	The coordinate system for the `Axis` can be changed using MC_SetPosition. When `bFixedCoordinateSystem` is set to TRUE, the `fSetPosition` is expected to be given in the coordinate system that was active when there was a rising edge on `bExecute`. If MC_SetPosition is called during execution, the provided `fSetPosition` is automatically transformed to the new coordinate system. When `bFixedCoordinateSystem` is set to FALSE, the `fSetPosition` is expected to be given in the current coordinate system. If MC_SetPosition is called during execution, the provided `fSetPosition` has to be adjusted to the new coordinate system.
Output	`bBusy`	`BOOL`		`TRUE`: Execution of function block has not been finished yet.
	`bCommandAborted`	`BOOL`		`TRUE`: The command has been aborted by another command.
	`bError`	`BOOL`		`TRUE`: Error has occurred within the function block.
	`iErrorID`	`SMC_ERROR`		Error identification