Function mva

Function that performs axis movement in manual mode.

Compared with mva_jog() it allows you to:

•Set distinctly acceleration and deceleration

•Distinctly set jerk on acceleration and deceleration

•Manage stop on end of strokes with jerked motion

Syntax

i32 mva_jog2 (i32 nAx, i32 dir, real spe, real acc, real dec [, real jerAcc=0] [, real jerDec=0] [, i32 noEEOS=0])

nAx

Axis number (1-:-32)

dir

Direction:

spe

Speed

acc

Acceleration

dec

Deceleration

jerAcc

Acceleration jerk (0 no jerk, 1 all acceleration phase with controlled jerk). (optional, default 0)

jerDec

Deceleration jerk (0 no jerk, 1 all deceleration phase with controlled jerk).

(optional, default 0)

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

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