MC_MoveModulo

Syntax

Definition:

FUNCTION_BLOCK MC_MoveModulo
VAR_IN_OUT
    Axis            : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Execute         : BOOL;
    Position        : LREAL;
    AdditionalTurns : UDINT;
    Velocity        : LREAL;
    Acceleration    : LREAL;
    Deceleration    : LREAL;
    Jerk            : LREAL;
    BufferMode      : EBufferMode;
    Direction       : EModuloDirection;
END_VAR
VAR_OUTPUT
    Done            : BOOL;
    Busy            : BOOL;
    Active          : BOOL;
    CommandAborted  : BOOL;
    Error           : BOOL;
    ErrorId         : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
Execute	BOOL		Trigger the command with rising edge.
Position	LREAL	#Invalid	Commanded modulo position ([PosUnit])
AdditionalTurns	UDINT	0	Number of additional modulo turns in the commanded direction. A value > 0 requires Direction <> EModuloDirection.ShortestDistance.
Velocity	LREAL	#Invalid	Maximum velocity ([PosUnit]/s, positive)
Acceleration	LREAL	#Default	Maximum acceleration ([PosUnit]/s^2, positive)
Deceleration	LREAL	#Default	Maximum deceleration ([PosUnit]/s^2, positive)
Jerk	LREAL	#Default	Maximum jerk ([PosUnit]/s^3, positive)
BufferMode	EBufferMode	Aborting	Chronological sequence of the command
Direction	EModuloDirection	ShortestDistance	Commanded direction. Must have value <> EModuloDirection.ShortestDistance if AdditionalTurns has value > 0.

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Done	BOOL	Commanded position finally reached
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Further information

If the Direction input is set to PositiveDirection or NegativeDirection, the AdditionalTurns input is also taken into account. The AdditionalTurns input can be used to specify additional turns until the target position is reached.

Further information on Modulo positioning.

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6