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ST_MoveAbsoluteCAOptions

TYPE ST_MoveAbsoluteCAOptions :
STRUCT
    GapControlMode          : MC_GAP_CONTROL_MODE := mcGapControlModeGroupDefault;
    PositionReferenceSystem : OTCID := 0;
    DynamicsReferenceSystem : OTCID := 0;
    AdditionalTurns         : UDINT := 0;
END_STRUCT
END_TYPE

Name

Type

Description

GapControlMode

MC_GAP_CONTROL_MODE

See the description of the data type MC_GAP_CONTROL_MODE for further information.

PositionReferenceSystem

(as of TF5400 V3.1.6.03)

OTCID 

  • This input is of type OTCID and can therefore refer to a mover template.
  • For the position reference to the XTS motor path, the input PositionReferenceSystem can be left open or set to the value zero so that compatibility with earlier versions of this function block is maintained.
  • For the position reference to the path defined by a Mover Template Object, set PositionReferenceSystem to its object ID. Then the position input will be interpreted according to the offset path.

DynamicsReferenceSystem

(as of TF5400 V3.1.6.03)

OTCID 

  • This input is of type OTCID and can therefore refer to a mover template.
  • For the dynamic reference to the XTS motor path, the input DynamicsReferenceSystem can be left open or set to the value zero so that compatibility with earlier versions of this function block is maintained.
  • For dynamic reference to the path defined by a Mover Template Object, set DynamicsReferenceSystem to its object ID. Then the dynamics of the motion profile will be constrained to the given path.

AdditionalTurns

(as of TF5400 V3.1.10.30)

UDINT

  • This input is used to command additional full turns.
  • AdditionalTurns may only be used (take a value > 0) if:
    • Direction = mcDirectionPositive or
    • Direction = mcDirectionNegative .
  • If positioning is performed using modulo, i.e. if Direction assumes one of the three following values {mcDirectionPositive, mcDirectionNegative, ShortestWay}, the target position must be located in Interval [0, ModuloFaktor] as of V3.1.10.30. This is a departure from previous behavior. Before the introduction of the parameter AdditionalTurns, additional turns were commanded by commanding larger target positions than the modulo factor.

    Example: ModuloFactor = 360, StartPosition = 5; 2 full turns are to be commanded and moved to position 10:
    • Up to V3.1.10.14: TargetPosition = 730
    • From V3.1.10.30: TargetPosition = 10, AdditionalTurns = 2
  • Further details in the notes to Modulo positioning.

Requirements

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2