MC_VelocityProfile (FB)¶

FUNCTION_BLOCK MC_VelocityProfile

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

Warning

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