Danfoss VLT Series Programming Manual page 204

Programming
6.5.5.4 MC_MoveAbsolute_ISD51x
This function block commands a controlled motion to a
specified absolute position. If no further actions are
pending, this action completes with velocity 0. The
Direction mcShortestWay_ISD51x uses a trajectory that takes
the shortest route. The direction is based on the current
position when the command is issued.
AXIS_REF_-
ISD51x
BOOL
DINT
6 6
DINT
UDINT
UDINT
MC_DIRECTION_-
ISD51x
MC_BUFFER_-
MODE_ISD51x
UINT
Illustration 6.61 MC_MoveAbsolute_ISD51x
Only positive values are allowed for the inputs Velocity,
Acceleration, and Deceleration.
The command is transferred immediately and, if in
aborting buffer mode, is also executed immediately.
Variable
name
VAR_IN_OUT
Axis
VAR_INPUT
Execute
Position
Velocity
Acceleration
202
MC_MoveAbsolute_ISD51x
Axis
Execute Done
Position Busy
Velocity Active
Acceleration Command
Aborted
Deceleration Error
Direction ErrorInfo
Bu erMode
TorqueLimit
Data type Default Description
value
AXIS_REF_ISD51x Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
BOOL FALSE Start the motion at rising
edge.
DINT 0 Commanded position for
motion [user-defined
position unit]. The value
can be positive or
negative.
DINT 0 Value of maximum
velocity, that is not
necessarily reached [user-
defined velocity unit]. Only
values >0 are allowed.
UDINT 0 Value of acceleration
(increasing energy of the
motor) [user-defined
acceleration unit]. Only
values >0 are allowed.
Danfoss A/S © 01/2017 All rights reserved.
®
VLT Integrated Servo Drive ISD
Variable
name
Deceleration
Direction
BOOL
BOOL
BOOL
BOOL
BOOL
DD_ERROR_-
ISD51x
BufferMode
TorqueLimit
VAR_OUTPUT
Done
Busy
Active
Command
Aborted
Error
ErrorInfo
Table 6.41 MC_MoveAbsolute_ISD51x
®
510 System
Data type Default Description
value
UDINT 0 Value of the deceleration
(decreasing energy of the
motor) [user-defined
acceleration unit]. Only
values >0 are allowed.
MC_DIREC mcShor- Influences the trajectory
TION_ISD5 testWay_ calculation. See Table 6.42
1x ISD51x for available values. The
following directions are
supported:
•
mcCurrentDir-
ection_ISD51x
•
mcNegativeDir-
ection_ISD51x
•
mcPositiveDir-
ection_ISD51x
•
mcShortestWay_ISD51x
MC_BUFFE mcAbort Defines the chronological
R_MODE_I ing_ISD5 sequence of the function
SD51x 1x block. See Table 6.43 for
available values.
UINT 0xFFFF Maximum torque used
during this motion [per
thousand of rated torque].
BOOL Commanded position
finally reached.
BOOL The function block is not
finished and new output
values are to be expected.
BOOL The function block has
control on the axis.
BOOL Command is aborted by
another command.
BOOL An error has occurred
within the function block.
DD_ERROR_ISD51x Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
MG36D102