MC_PositionCorrectionLimiter

MC_PositionCorrectionLimiter 1:

The function block MC_PositionCorrectionLimiter writes a correction value (PositionCorrectionValue) at the actual position of an axis. Depending on the correction mode the data are fed either directly or filtered to the axis.

VAR_INPUT


VAR_INPUT
 Enable                  : BOOL;
 PositionCorrectionValue : LREAL;
 CorrectionMode          : E_AxisPositionCorrectionMode;
 Acceleration            : LREAL;
 CorrectionLenght        : LREAL;
END_VAR

Enable	The continuous writing of the PositionCorrectionValue is activated by this input. It must be TRUE as long as new correction values are to be accepted.
PositionCorrectionValue	The correction value that is to be added to the actual value of the axis.
CorrectionMode	Depending on this mode the PositionCorrectionValue is written either directly or filtered. For a detailed description see E_AxisPositionCorrectionMode.
Acceleration	Depending on the CorrectionMode the maximum acceleration to reach the new correction value is specified here. In the case of PositionCorrectionMode_Fast this value has a direct effect on the position delta by PLC-tick. Max. permissible correction value position delta = acceleration * (PLC cycle time)^2. The position correction is not limited if acceleration is parameterized to 0.0.
CorrectionLength	If the CorrectionMode corresponds to PositionCorrectionMode_FullLength, this parameter becomes active. A change in the PositonCorrectionValue is distributed over this correction length.

VAR_IN_OUT


VAR_IN_OUT
    Axis    : AXIS_REF;
END_VAR

Axis

AXIS_REF axis data structure

VAR_OUTPUT


VAR_OUTPUT
 Busy         : LREAL;
 Error    : BOOL;
 ErrorId  : UDINT;
 Limiting : BOOL;
ND_VAR

Busy	Goes TRUE as soon as the function block is active and FALSE when it returns to the original state.
Error	Becomes TRUE, as soon as an error occurs.
ErrorId	If the error output is set, this parameter supplies the error number.
Limiting	Goes TRUE if the demanded PositionCorrectionValue has not yet been completely accepted.

	The Position Correction parameter in the System Manager must be enabled in order to use this function block successfully.