Stober POSIDRIVE MDS 5000, Manual

Page: 559 / 590

Standard blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
558
101041 Master PLCopen MC_MoveRelative (with timestamp)
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_MoveRelative . The value in
Direction is the distance to be traveled. The positioning profile is based on the
values in Velocity , Accel , and Decel . The Jerk input is not used.
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 time stamp of the Execute signal can be connected to the
ExeTStamp
input for precise positioning.
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
Distance
P64 Skal.-Fkt. 19 Distance to be traveled
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
12 StepID U16 – Positioning job identifier
13
ExeTStmp
U16 1LSB = 1us Time stamp of the Execute signal
Outputs
No. Name Datatype Scaling Description
7 Done B – Status signal; 1:active = Command was concluded successfully.
8 Aborted B –
Status signal; 1:active = Command was aborted (e.g., due to another
command).
9 Error B – Status signal; 1:active = Positioning control determined an error.
10 ErrorID U16 –
Representation of the error code as per G163 (error determined by
positioning control).
11 Active B –
Status signal; 1:active = The block sends the positioning job to
positioning control or executes it.