SMC_ControlAxisByPosVel (FB)¶

FUNCTION_BLOCK SMC_ControlAxisByPosVel

This function block writes the set position fSetPosition and the set velocity fSetVelocity to the axis drive structure and monitors axis for jumps in a similar way to SMC_ControlAxisByPos. SMC_ControlAxisByPosVel is mostly used with CNC and an instance of the SMC_Interpolator.

Note

For direct checking of the set value of the axis, one of the SMC_Follow* blocks should be used.

See also: SMC_ControlAxisByPos

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Axis`	`AXIS_REF_SM3`		Reference to axis See also: `AXIS_REF_SM3`
Input	`iStatus`	SMC_INT_STATUS		Status of the instance of SMC_Interpolator
	`bEnable`	`BOOL`		`TRUE`: Starts execution
	`bAvoidGaps`	`BOOL`	TRUE	`TRUE`: Monitoring of position and velocity If the velocity exceeds the limit value `fSWMaxVelocity` which is set in `Axis` and configured in the drive dialog with the maximum values setting, then `bStopIpo` is set to `TRUE`. The axis is moved with the values `fGapVelocity, fGapAcceleration, fGapDeceleration and fGapJerk` to the set position and brought to the set velocity. On reaching the set values `bStopIpo` is set to `FALSE`.
	`fSetPosition`	`LREAL`		Set position of the axis. Typically connected to the output of the transformation block.
	`fSetVelocity`	`LREAL`		Set velocity in [u/s]
	`fGapVelocity`	`LREAL`		Velocity for the bypassing of the jump in [u/s]
	`fGapAcceleration`	`LREAL`		Acceleration for the bypassing of the jump in [u/s2]
	`fGapDeceleration`	`LREAL`	1E+15	Deceleration for the bypassing of the jump in [u/s2] Note: also used if `bAvoidGaps` is `FALSE`, for stopping when disabled
	`fGapJerk`	`LREAL`	1E+16	Jerk for the bypassing of the jump in [u/s3] Note: also used if `bAvoidGaps` is `FALSE`, for stopping when disabled
Output	`bBusy`	`BOOL`		`TRUE`: Function block operating
	`bCommandAborted`	`BOOL`		`TRUE`: Execution was interrupted by another function block instance operating on `Axis`.
	`bError`	`BOOL`		`TRUE`: Error has occurred
	`iErrorID`	`SMC_ERROR`		Error identification
	`bStopIpo`	`BOOL`		`TRUE`: Jump in velocity or position occurred and adaptation to new position is running If `bStopIpo` is connected to the EmergencyStop input of the SMC_Interpolator instance, the interpolator waits until the axis is correctly positioned. See also: `SMC_ERROR`