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Validity: Rule

Unique case, the axis starts from the PS point

zc_paraccarro_1

Phases:

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

•Preliminary 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.

•CYCLE0 final mission: the axis moves at the velocity (-velZC) until it reach the CH0 encoder, then decelerates and stops at the PF position.

•The value obtained by adding the position delta (PF-value read on the first CH0) to 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)

•CH0, 0 channel of the incremental encoder

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 to consider paracart achieved (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  = 4096 ; Maximum space of the final movement CYCLE0

            zc.filter = 0 ; If drive in fieldbus reappears % torque reduction

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

            zc.zcFlag.1 = 0  ; Not used

            zc.zcFlag.2 = 1  ; Abilita full-precision (ch0 enc)

            zc.zcFlag.3 = 1  ; Disable use of micro (because end of stroke search 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  ; Enable 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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