FB_WritePositionCorrection

VAR_INPUT

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

Enable: Continuous writing of PositionCorrectionValue is enabled with a rising edge on this input. It must be true as long as new correction values should be accepted.

PositionCorrectionValue: Correction value that should be written to the cyclic axis interface

CorrectionMode: Depending on this mode the PositionCorrectionValue is written immediately or 'filtered' For a detailed description refer E_PosiitonCorrectionMode

Acceleration:  Depending on the CorrectionMode the maximum acceleration to achieve the new correction value is specified here. In case of PositionCorrectionMode_Fast this value has an direct influence to the position delta per PLC-Tick.
max. accepted delta of position correction value = acceleration * (PLC-Cycletime)^2

CorrectionLength: If the CorrectionMode is equal to PositionCorrectionMode_FullLength this parameter becomes active. A change in PosiitonCorrectionValue is split up on this correction length

VAR_IN_OUT

VAR_IN_OUT
   AxisRefIn  : NCTOPLC_AXLESTRUCT;
   AxisRefOut : NCTOPLC_AXLESTRUCT;
END_VAR

AxisRefIn : Axis structure from NC.

AxisRefOut : Axis structure from PLC.

VAR_OUTPUT

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

Busy: Becomes TRUE as soon as the function block is active, and becomes FALSE when it has returned to its initial state.

Error : Becomes TRUE, as soon as an error occurs.

ErrorId : If the error output is set, this parameter supplies the error number.

Limiting: Becomes TRUE, if the requested PositionCorrectionValue is not yet full accepted.

Hint:

To use this function block successfully, Actual Position Correction in the System Manager must be enabled.

Requirements