Stober POSIDRIVE MDS 5000, Manual

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Standard blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
403
100271 PLCopen MC_MoveSuperimposed
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_MoveSuperimposed . The value on Distanc e is the distance to be
superimposed. The motion profile is determined by 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.
When the output Done is 1:active , the command has been executed successfully
The status 1:active of the output Busy shows that the superimposed distance is
being traveled The output Aborted is 1:active when the motion job was aborted
by another job, for example. The output Error indicates with the status 1:active
that position control has found an error. The error code can be read from the
output
ErrorID as per parameter I90 . The output Active is 1:active when the block
sends the motion job to position control or the motion job is 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 Superimposed 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 – Input is not used.
8 StepID U16 – Motion job ID
Outputs
No. Name Datatype Scaling Description
9 Done B – Status signal; 1: active = command was concluded successfully.
10 Busy B – Status signal; 1:active = superimposed distance is traveled.
11 Aborted B –
Status signal; 1: active = command was aborted (e.g., due to another
command).
12 Error B – Status signal; 1: active = position control found an error.
13
ErrorID
U16 –
Indication of the error code as per I90 (due to error found by position
control)
14 Active B –
Status signal; 1: active = block sends the motion job to position
control or executes it.