Function mva

Function that performs axis movement in manual mode.

Compared with mva_jog2():

•It is not possible to distinctly set acceleration and deceleration

•It is not possible to set acceleration and deceleration jerk distinctly

•Cannot handle stop on end of strokes with jerked motion

Syntax

i32 mva_jog (i32 nAx, i32 dir, real spe, real acc [, real jer=1e100] [, i32 noEEOS=0])

nAx

Number of the axis (1-:-32)

dir

Direction:

spe

Speed

acc

Acceleration

jer

Jerk. (optional, default 1e100)

noEEOS

Flag to disable the use of EEOS (Electronic End Of Stroke) as an end of stroke: (optional, default 0)

Value	Meaning
0	EEOS enabled
1	Disabled

If disabled, CRASH alarms are not handled, even if CAM enabled.

NOTE: See predefined variables min_str and max_str.

Result

Variable containing information about the status of the function (see returns codes).

Value	Description
-5 [M_ILLEGAL_ARGS]	Illegal parameter (acc=0 or nAx illegal)
-6 [M_IN_ALARM]	Alarm (ip axis already set)
6 [M_REACHED]	Target reached. This means that either the direction is 0 and the axis is stationary, or the direction is +1 or -1 and the axis has reached one of the end of strokes
15 [M_ACCEL]	Acceleration in progress
16 [M_AT_SPEED]	Movement at speed
17 [M_DECEL]	Deceleration in progress

Validity

Rule

Note

Acting on the jerk results in an 'S' velocity profile, thus a smoother motion.

Stopping on end of strokes is done with maximum jerk

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