RM_AxisOut – Axis output

Block SymbolLicensing group: MOTION CONTROL

Function Description

The RM_AxisOut block allows an access to important states of block RM_Axis. Same outputs are also available directly on RM_Axis (some of them), but this direct output is one step delayed. Blocks are ordered for execution by flow of a signal, so RM_Axis is first then all motion blocks (that actualize RM_Axis state), then RM_AxisOut (should be last) and finally waiting for next period.

Note: almost all blocks do not work with torque so commanded torque is 0. Commanded acceleration and torque should be used as feed-forward value for position/velocity controller so this value does not make any problem.

Inputs

uAxis

axis reference that must be connected to axisRef of the RM_Axis block (direct or indirect throw output yAxis of some other block)

Reference

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