MC_AxRtFollowUp_BkPlcMc

MC_AxRtFollowUp_BkPlcMc 1:

The function block updates the offset compensation.

MC_AxRtFollowUp_BkPlcMc 2: Inputs

VAR_INPUT
     Enable:       BOOL;
END_VAR

Name

Type

Description

Enable

BOOL

A TRUE at this input enables the function block.

MC_AxRtFollowUp_BkPlcMc 3: Inputs/outputs

VAR_IN_OUT
     Axis:       AXIS_REF_BkPlcMc;
END_VAR

Name

Type

Description

Axis

AXIS_REF_BkPlcMc

Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.

Behavior of the function block

If Enable = TRUE, the actual position is copied to all target and set positions. Target velocity, lag error and position controller output are set to 0.0. With a falling edge at Enable, the axis will re-enable the position controller depending on parameters and enables at the current actual position.

The function block should not be enabled for an axis that is performing an active movement or needs to be controlled.

Because the position control is disabled, the axis can drift.

If the axis is to be moved by external actions, the required oil paths must be opened by the application.