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This keyword allows a variable of type STRU_MVGENITP (STRUCT_P) to be defined.

It is used by the mva_to_n_v() motion function.

It consists of the following information:

Field

Type

Description

nAx

I32

Axis number

target

REAL

Target to be reached (position).

If the target is less than (pos_thr / 10), RTE considers the space null. So in case the user wishes to make micro advances (< pos_thr / 10) he will have to set the variable pos_thr appropriately

v

REAL

Speed to reach the target.

NOTE: When interpolating multiple axes, the speed used may be less than the set speed (only the slowest axis to reach the target uses it, the others will use a lower speed).

vf

REAL

Final speed at target

accI

REAL

Initial maximum acceleration/deceleration to get to v

accF

REAL

Final maximum acceleration/deceleration to bring to target (on target I will have zero acceleration)

accH

REAL

Acceleration in case of hold

Example of declaration:

; definition of mov1 variable of type STRU_MVGENITP for the movement of an axis

STRU_MVGENITP mov1

Example of a three-axis declaration:

; definition of mov_ax variable of type STRU_MVGENITP for the movement of three axes

STRU_MVGENITP mov_ax[3]

Example of use:

; use of structure for a movement

; definition of variable m1 of type STRU_MVGENITP for the movement of an axis

STRU_MVGENITP m1

; definition of accessory variables

I32 result

I32 restartFlag

; insertion of data into the structure

m1.nAx = 1 ; axis number

m1.target = rr(1000) ; desired position [units]

m1.v = rr(1001) ; steady state speed [units/sec]

m1.vf = rr(1002) ; final speed [units/sec]

m1.acci = rr(1003) ; initial acceleration [units/sec^2]

m1.accf = rr(1004) ; final acceleration [units/sec^2]

m1.accH = max_acc(1) ;deceleration value in case of hold

; restart flag

restartFlag = false

; I execute the movement

result = mva_to_n_v(restartFlag, m1 , 1, hold, fr)

; I check the result

if (result = M_REACHED)

    sr(1) = "I'm done!"

endif

NOTE: To access remember that indexes start from 0.

 
  

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