Function that brings the indicated axes (1-:-32) toward the target preset position value with a velocity profile toward 'S' time (with controlled jerk).
The consequence is smoother motion.
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i32 mva_to_n_cj (i32 start, stru_mvitpcj stru [, i32 nDef=1] [, i32 holdFlag=0] [, real fr=1])
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Flag to enable data re-acknowledgement (only if axes stopped).
The flag is reset by RTE when the data is taken
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Structure of type stru_mvitpcj containing motion-related parameters
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Size of the information array (number of axes involved). (optional, default 1)
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Flag to command HOLD status to the mission. (optional, default 0)
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Speed reduction value (0-1). (optional, default 1)
See fr
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Variable containing information about the status of the function (see returns codes).
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-5 [M_ILLEGAL_ARGS]
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Illegal parameter
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-6 [M_IN_ALARM]
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Alarm (ip axis already set)
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2 [M_POSITIONING]
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Initial positioning
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6 [M_REACHED]
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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
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14 [M_HOLDED]
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Motion stopped due to HOLD flag.
It is also returned in cases where the desired axis speed is imposed to 0 or the feedrate is set to zero
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15 [M_ACCEL]
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Acceleration in progress
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16 [M_AT_SPEED]
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Motion at speed
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17 [M_DECEL]
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Deceleration in progress
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Rule
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The mission may involve multiple axes (max 32).
They will be linearly interpolated in order to reach their targets all together
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Diagnostics
•Generate alarm 9900 ill. Arg. A:2 T:x ST:xxx if invalid axis number or acceleration/speed/jerk < 1e-9
•Generate alarm 9900 ill. Arg. A:3 T:x ST:xxx if acc = 0
•Generate alarm 9903 Par. are changed T:x ST:xxx if running axis sequence changed
•Generate alarm 2800 Double Position Set T:x ST:xxx if already imposed axis ip |
Example of use:
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stru_mvitpcj m1[3]
int restartFlag
motion
if(first_time())
rr(1000) = 100
rr(1001) = 10
rr(1002) = 20
rr(1003) = 40
rr(2000) = 100
rr(2001) = 10
rr(2002) = 20
rr(2003) = 40
rr(3000) = 100
rr(3001) = 10
rr(3002) = 20
rr(3003) = 40
restartFlag = true
endif
m1[0].nAx = 1
m1[0].target = rr(1000)
m1[0].v = rr(1001)
m1[0].acc = rr(1002)
m1[0].dec = rr(1003)
m1[0].decH = max_acc(1)
m1[1].nAx = 2
m1[1].target = rr(2000)
m1[1].v = rr(2001)
m1[1].acc = rr(2002)
m1[1].dec = rr(2003)
m1[1].decH = max_acc(2)
m1[2].nAx = 3
m1[2].target = rr(3000)
m1[2].v = rr(3001)
m1[2].acc = rr(3002)
m1[2].dec = rr(3003)
m1[2].decH = max_acc(3)
esito = mva_to_n_cj(restartFlag, m1[0], 3, hold, fr)
if(rise(esito = M_REACHED))
if(avanti)
inc(rr(1000),100)
inc(rr(2000),100)
inc(rr(3000),100)
avanti = false
restartFlag = true
else
dec(rr(1000),100)
dec(rr(2000),100)
dec(rr(3000),100)
avanti = true
restartFlag = true
endif
end_motion
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