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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.

Syntax

i32 mva_to_n_cj (i32 start, stru_mvitpcj stru [, i32 nDef=1] [, i32 holdFlag=0] [, real fr=1])

start

Flag to enable data re-acknowledgement (only if axes stopped).

The flag is reset by RTE when the data is taken

stru

Structure of type stru_mvitpcj containing motion-related parameters

nDef

Size of the information array (number of axes involved). (optional, default 1)

holdFlag

Flag to command HOLD status to the mission. (optional, default 0)

fr

Speed reduction value (0-1). (optional, default 1)

See fr

Result

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

Value

Description

-5 [M_ILLEGAL_ARGS]

Illegal parameter

-6 [M_IN_ALARM]

Alarm (ip axis already set)

2 [M_POSITIONING]

Initial positioning

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

14 [M_HOLDED]

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

15 [M_ACCEL]

Acceleration in progress

16 [M_AT_SPEED]

Motion at speed

17 [M_DECEL]

Deceleration in progress

Validity

Rule

Note

The mission may involve multiple axes (max 32).

They will be linearly interpolated in order to reach their targets all together

hmtoggle_plus0  Diagnostics

 

  

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