FUNCTION_BLOCK MC_VelocityProfile
This function block is designed for commanding a time-velocity locked motion profile.
Notice
A shift between different profiles can be managed.
Alternatively to MC_VelocityProfile, a cam function block coupled to a virtual master can be employed.
Warning
MC_MoveSuperimposed is not supported on top of MC_VelocityProfile
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Inout |
Axis |
Reference to axis |
||
|
TimeVelocity |
Reference to time/velocity description |
|||
|
Input |
Execute |
BOOL |
FALSE |
Rising edge: Starts the execution of the function block. |
|
ArraySize |
INT |
0 |
Dimension of array |
|
|
VelocityScale |
LREAL |
1 |
Overall velocity scaling factor |
|
|
Offset |
LREAL |
0 |
Overall offset for profile [u] |
|
|
Output |
Done |
BOOL |
FALSE |
TRUE: Profile has been completed. |
|
Busy |
BOOL |
FALSE |
TRUE: Execution of function block has not been finished yet. |
|
|
CommandAborted |
BOOL |
FALSE |
TRUE: Command has been aborted by another command. |
|
|
Error |
BOOL |
FALSE |
TRUE: Error has occurred within the function block. |
|
|
ErrorID |
SMC_ERROR |
0 |
Error identification |
