n Start of the job in the PLCopen-States Standstill, Discrete Motion and Continuous
Motion possible.
n MC_MoveVelocity switches the axis to the PLCopen-State Discrete Motion.
The movement of the axis is started with an edge 0-1 at Execute. Busy is TRUE as soon
as the movement of the axis is running. After the target position was reached, Busy with
FALSE and Done with TRUE is returned. Then the velocity of the axis is 0.
– With Sigma-5 EtherCAT the target position is always reached via the
shortest way.
– An active job continues to move to target position even when Execute
is set to FALSE.
– A running job can be aborted by a move job (e.g. MC_MoveVelocity).
(1) With MC_MoveAbsolute the axis is moved to the absolute position = 10000.0 (start
position at job start is 2000.0). At time (1) moving the axis is started with edge 0-1 at
Execute and Busy becomes TRUE.
(2) At time (2) the axis has reached the target position. Busy has the value FALSE and
Done den value TRUE.
(3) At the time (3) the job is completed and Execute becomes FALSE and thus each
output parameter FALSE respectively 0.
PLCopen-State
Move axis absolute
Status diagram of the
block parameters
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 562
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