Stober POSIDRIVE MDS 5000, Manual

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Standard blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
557
101040 Master PLCopen MC_MoveAbsolute
Description
NOTE
The block can only be used in combination with the virtual master with positioning
function. For more information on the command, please read the description of
the PLCopen applications (e.g., electronic cam, publication no. 441778).
When a rising edge is determined on
Execute , a positioning job is sent to
positioning control with the command MC_MoveAbsolute . The command
MC_MoveAbsolute triggers a movement to an absolute position. The value in
Position is the target position. The positioning profile is based on the values in
Velocity , Accel , and Decel . The Jerk input is not used.
The Directn input optimizes the direction of revolution for an application with
endless axis and positioning job starting from a standstill. Optimization uses the
two LSBs of the queued value. Optimization occurs at 00
bin
(i.e., the shortest
distance is traveled). The drive only travels in the positive direction with the value
01
bin
and in the negative direction with 10
bin
.
A number to identify the positioning job can be specified in the StepID input. The
value is copied to G160 Active PLCopen Step-ID. This can be used to follow the
progression in G160 when several PLCopen blocks are being sequence-
controlled.
The output
Done is 1:active when the positioning job has been concluded. This
state is retained until the Execute signal falls. If the Execute signal becomes
inactive before the job is finished,
Done becomes active for one cycle.
The Aborted output is 1:active when the positioning job was aborted by another
job.
The
Error output indicates that positioning control has found an error. An error
analysis is provided on the ErrorID output which indicates the error coding as per
G163 Error Code.
The Active output is 1:active when the positioning job is being executed.
Inputs
No. Name Datatype Scaling Description
1 Execute B – Execute signal which triggers the command at a rising edge
2 Position P64 Skal.-Fkt. 19 Target position
3 Velocity I32 Skal.-Fkt. 20 Positioning speed
4 Accel I32 Skal.-Fkt. 20 Acceleration ramp of the positioning job
5 Decel I32 Skal.-Fkt. 20 Deceleration ramp of the positioning job
6 Jerk I32 – Input is not used
7 Directn U8 –
Direction optimization for applications with endless axis.
00
bin
= optimized direction , 01
bin
= only positive direction,
10
bin
= only negative direction.
8 StepID U16 – Positioning job identifier
Outputs
No. Name Datatype Scaling Description
9 Done B –
Status signal; 1:active = positioning job was concluded successfully.
The signal remains 1:active for one cycle when no Execute signal is
still queued or until the Execute signal falls.
10 Aborted B –
Status signal; 1:active = Command was aborted by another
command.
11 Error B – Status signal; 1:active = Positioning control determined an error.
12 ErrorID U16 –
Representation of the error code as per G163 (error determined by
positioning control).
13 Active B –
Status signal; 1:active = The block sends the positioning job to
positioning control or executes it.