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.

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x813c	33084	Parameter	BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered).
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x8146	33094	Function Block	Invalid velocity value. The velocity was not set or the entered value is invalid.
0x8151	33105	State	Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted.
0x8182	33154	Monitoring	Software position limit violation. Software position limits of at least one axis have been or would have been violated by a command.
0x818c	33164	Parameter	Position is out of modulo range. Position must be larger or equal to zero and less or equal to the modulus when using modulo positioning. When using modulo positioning, the target position is interpreted in consideration of the AdditionalTurns variable at the Options input.
0x818d	33165	Parameter	The specified value AdditionalTurns at the Options input is not allowed. The parameter AdditionalTurns must be zero for the specified value of the parameter direction.
0x8196	33174	Initialization	Invalid position or distance. The actual or specified position or distance could not be determined or is invalid.
0x819a	33178	NC Programming	Direction-dependent feed enable is missing. The execution of this command is not possible because of a missing direction-dependent feed enable.
0x819b	33179	NC Programming	Controller enable is missing. The controller enable of the axis was withdrawn during a movement. The dynamics of the setpoint did not correspond to zero dynamics.
0x81a9	33193	Parameter	Invalid acceleration value. The supplied acceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81aa	33194	Parameter	Invalid deceleration value. The supplied deceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81ab	33195	Parameter	Invalid jerk value. The jerk value used for the motion is invalid (e.g., negative, zero, or outside the permitted range of the mover or axis).
0x81bc	33212	Function Block	Axis is not configured as modulo axis. The command requires a modulo axis, but the axis is not configured as a modulo axis.

An overview of all NC error codes can be found here:

Other errors

Version information

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