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Validity: Rule

Unique case, the axis starts from the PS point

zc_paracarro_2

Phases:

•The servo alarm (SAM) of the axis is disabled.

•CYCLE0 mission (search for the end of stroke): the axis moves at the speed (+velZC) until the conditions "abs(CV) < zc.velZC/1000.0" and "abs(IP-CP) > zc.velPos" are met.
NOTE: Since RTE v34.24.10, if zcFlag.13 (0x2000) of stru_mvzc is set at 1, the condition "abs(IP-CP) > zc.velPos" is disabled.

•The previous value is set again on the SAM mask related to the axis.

•The axis moves away from the end of stroke: the axis moves at the velocity (-velZC) until it travels a space at least equal to zc.spSCh and stops at the PF position.

•The value obtained by subtracting the value of the PF point from the Preset parameter is assigned as the new real quote.

•The predefined variable c0_done is updated by setting the axis related bit to 1.

Legend:

•PS, initial start point for mva_zc()

•PF, target stop point for mva_zc()

•Qmin, axis minimum position (min_str)

•Qmax, axis maximum position (max_str)

Example of use:

INT result

STRU_MVZC zc

INT Flag

...

rule 123    

    axes 1

    motion

        ; First time initialization

        if (first_time())

            Flag = true

            zc.nAx    = 1 ; Axis number

            zc.preset = 0 ; Preselection quotas

            zc.velPos = 10.0 ; Threshold epos(nAx) in units x consider paracart reached (if you also have cv(nAx)<(zc.velZC/1000.0) )

            zc.velZC  = rVelc0 ; Speed for final movement CYCLE0 mva_zc

            zc.acc    = rMaxAcc * 0.5 ; Acceleration to be used in all movements

            zc.jerk   = rMaxAcc * 10 ; Derivative of acceleration

            zc.spSCh  = 20.0 ; Minimal space x mission away from the paracart (unit).

            zc.filter = 0 ; If drive in canopen represents % torque reduction

            zc.zcFlag.0 = 1  ; Positive speed x paracart search

            zc.zcFlag.1 = 0  ; Torque reduction %, only if drive type managed.

            zc.zcFlag.2 = 0  ; Disabilita full-precision (ch0 enc)

            zc.zcFlag.3 = 1  ; Disable use of micro (because paracar research is enabled)

            zc.zcFlag.4 = 1  ; Not used

            zc.zcFlag.5 = 1  ; Preliminary missions of limited excursion (equal to max_str(nAx)-min_str(nAx))

            zc.zcFlag.6 = 0  ; Not used

            zc.zcFlag.7 = 1  ; Enabled end of stroke search

            zc.zcFlag.8 = 0  ; Disable zero cycle ON_POSITION

            zc.zcFlag.9 = 0  ; Disable positioning on preset elevation

            zc.zcFlag.10 = 0 ; Disable repositioning within software limit switches.

        endif

 

        ; Call the move function

        result = mva_zc(Flag, zc)

    end_motion

end_rule

 

 
  

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