MotionSetpoints

This core function offers a range of current setpoints.

This core function is a member of the group of permanently active core functions.

Syntax:

FUNCTION_BLOCK FB_MotionSetpoints EXTENDS FB_Corefunction

Properties

Name	Type	Access	Description
InitState	BOOL	Get, Set	The core function is not completely and successfully initialized.
FB_MotionSetpoints
Acceleration	LREAL	Get	The current acceleration setpoint.
Jerk	LREAL	Get	The current jerk setpoint.
Position	LREAL	Get	The current position setpoint.
Limiting	LREAL	Get	The current setpoint of the limiting function (e.g. torque, pressure).
Velocity	LREAL	Get	The current velocity setpoint.
TorqueLimiting¹	LREAL	Get	The current setpoint for torque limitation.
FB_Corefunction
FailedState	BOOL	Get, Set	If IsActivated is TRUE at the same time: Signals the failure of an accepted command. If IsActivated is FALSE at the same time: Signals the rejection of a command.
HasFeedback	BOOL	Get	The core function has responded to a pending command.
IsActivated	BOOL	Get	The core function has an accepted command pending.
IsLocalCmd	BOOL	Get	Signals that the axis is assigned with a command of this core function.
ReadyState	BOOL	Get, Set	The Corefunction is ready for operation, but is not commandable at this time. Possible reasons are: - The axis is not enabled. - Another Corefunction is active. - The Corefunction does not support any commands.

¹Obsolete

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_MotionSetpoints	Standard interface on FB_MotionSetpoints.

Example:

// calculating the difference between target and actual velocity
fVeloLag := ABS(iAxisBase.Actuals.Velocity) - ABS(iAxisBase.MotionSetpoints.Velocity);

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.55	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v12.6.1.0)