RM_Track –  Tracking and inching

Block SymbolLicensing group: MOTION CONTROL
PIC

Function Description

The RM_Track block includes few useful functions.

If the input TRACK is active (not zero), the block tries to track requested position (input pos) with respect to the limits for velocity, acceleration/decelertation and jerk. The block expects that requested position is changed in each step and therefore recalculates the path in each step. This is difference to MC_MoveAbsolute block, which does not allow to change target position while the movement is not finished. This mode is useful if position is generated out of the motion control subsystem, even thought the MC_PositionProfile block is better if whole path is known.

If the input JOGP is active (not zero), the block works like the MC_MoveVelocity block (e.g. moves axis with velocity given by parameter pv in positive direction with respect to maximum acceleration and jerk). When input JOGP is released (switched to zero), the block activates stopping sequence and releases the axis when the sequence is finished. This mode is useful for jogging (e.g. setting of position of axis by an operator using up/down buttons).

Input JOGN works like JOGP, but direction is negative.

Note 1: This block hasn’t parameter BufferMode. Mode is always aborting.

Note 2: If more functions are selected, only the first one is activated. Order is TRACK, JOGP, JOGN. Simultaneous activation of more than one function is not recommended.

Inputs

uAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

posvel

Requested target position or velocity [unit]

Double (F64)

TRACKP

Position tracking mode

Bool

TRACKV

Velocity tracking mode

Bool

JOGP

Moving positive direction mode

Bool

JOGN

Moving negative direction mode

Bool

Parameters

pv

Maximal allowed velocity [unit/s]

Double (F64)

pa

Maximal allowed acceleration [unit/s2]

Double (F64)

pd

Maximal allowed deceleration [unit/s2]

Double (F64)

pj

Maximal allowed jerk [unit/s3]

Double (F64)

iLen

Length of buffer for estimation  10

Long (I32)

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

InTrack

Requested position is reached

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

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