Stober POSIDRIVE MDS 5000, Manual

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Standard blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
400
100267 PLCopen MC_MoveRelative
Description
NOTE
The block can only be used with a PLCopen application. For information, see the
description of the PLCopen applications (e.g., electronic cam, publication no.
441778).
When
Execute has a rising edge, a motion job is sent to position control with the
command MC_MoveRelative . The value on Distanc e is the distance to be
traveled. The motion profile is based on the values of Velocity , Accel , and Decel .
The input Jerk is not used.
When the input UseBrake has the signal 1:active , the brake is applied after the
motion job is finished.
A number for the identification of the motion job can be specified on the input
StepID . The value is copied to I193 . This ID can be used to follow the sequence
in I193 when several PLCopen blocks are being sequence-controlled. The output
Done is 1:active when the motion job was finished. This state is retained until the
Execute signal falls. If the Execute signal becomes inactive before the job is
finished,
Done is active for one cycle.
The output Aborted is 1:active when the motion job was aborted by another job.
The output Error indicates that position control has found an error. An error
analysis is performed on the output Error ID indicating the error coding as per
parameter I90 .
The output Active is 1:active when the motion job is being executed.
Inputs
No. Name Datatype Scaling Description
1 Execute B – Execute signal which triggers the command at a rising edge
2 Distance P64 Skal.-Fkt. 8 Distance to be traveled
3 Velocity I32 Skal.-Fkt.14 Motion speed
4 Accel I32 Skal.-Fkt.14 Acceleration ramp of the motion job
5 Decel I32 Skal.-Fkt.14 Deceleration ramp of the motion job
6 Jerk I32 – Input is not used.
7 UseBrake B –
Application of the brakes based on motion job:
0 = brake not applied at end of the motion job
1 = brake applied at the end of the motion job
8 StepID U16 – Motion job ID
Outputs
No. Name Datatype Scaling Description
9 Done B – Status signal; 1: active = command was concluded successfully.
10 Aborted B –
Status signal; 1: active = command was aborted (e.g., due to another
command).
11 Error B – Status signal; 1: active = position control found an error.
12 ErrorID U16 –
Indication of the error code as per I90 (due to error found by position
control)
13 Active B –
Status signal; 1: active = block sends the motion job to position
control or executes it.