Parker EME
Motion control
192-121102 N04 June 2008 201
5.7.3. Zero point shift caused by superimposed positioning
(C3_ShiftPosition)
FB name C3_ShiftPosition
Shifting the reference point, i.e. the zero point of the system is shifted by the stated relative
distance. The drive performs a physical movement which is, however, not displayed.
The positioning being executed at that time is not interrupted by C3_ShiftPosition.
Application: Slave reg synchronization.
VAR_IN_OUT
Axis
INT Axis ID; constant: AXIS_REF_LocalAxis
VAR_INPUT
Execute
BOOL Starts the sequences of the module with positive edge
Distance
REAL
Distance of the offset (configured unit [units] ) (positive
and negative direction) <value range> (see page Fehler!
Textmarke nicht definiert.)
Velocity
REAL
Value of the maximum speed difference (always positive)
(not necessarily reached) [Units/s] <value range> (see
page Fehler! Textmarke nicht definiert.)
Acceleration
DINT Value of acceleration (always positive) [units/s²] <value
range> (see page Fehler! Textmarke nicht definiert.)
Deceleration
DINT
The value of deceleration (always positive) [units/s²]
<value range> (see page Fehler! Textmarke nicht
definiert.)
Jerk
DINT Value of the acceleration jerk (see page 183) [Units/s³]
(al
ways positive) <value range> (see page Fehler!
Textmarke nicht definiert.)
JerkDecel
DINT
Value of the deceleration jerk [units/s³] (always positive)
<value range> (see page Fehler! Textmarke nicht
definiert.)
VAR_OUTPUT
Done
BOOL Relative distance was reached
Busy
BOOL Shift is being executed
CommandAborted
BOOL Positioning aborted
Error
BOOL Error while executing module
Note:
The values Distance, Velocity, Acceleration, Deceleration, Jerk JerkDecel are no
absolute values, they are added to the current movement.
In the PLCopen "Standstill" state, the axis performs a relative movement, during
which the axis moves, but the displayed position is not changed.
In the PLCopen "Discrete Motion" state, the speed and the position of the active
movement are superimposed, but the displayed speed and position are not
changed.
In the case of a stop command on the axis, the current movement is interrupted
as well as the shift.
C3_ShiftPosition does not interrupt any active command.
This module cannot be operated with MC_MoveSuperImposed and MC_Phasing
at a time.
The position of the module in the structure image (see page 412).
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