MC_SetPosition

This FB is used to set the current position of the axis to an absolute value or shift it by a relative position. The zero point is defined in the machine measurement system and the status "Reference known" is set.

This axis does not move.

A following error continues to exist if pending.

The position can be set in any state of the axis (even "Disabled" and "ErrorStop"). Therefore, this FB can be used to implement " Homing on the fly " during an existing movement.

Note:

The function MC_SetPostion on the axis, which is guided by Leitwert, leads to compensation movement due to bearing detection!

In parallel with the functions:

- L_MC1P_FollowSetValues

- MC_GearInPos

- Technology modules that follow MasterValues

If the axis is already following a master value and the MC_SetPosition function is executed in parallel, this leads to the actual position being referenced. The setpoint position continues to follow the master value and is not influenced by MC_SetPosition. A following error occurs as the actual position is determined by MC_SetPosition and the setpoint position by the reference value.

The resulting situation can be compared with a jump in the setpoint position. The following error is compensated by the drive control. Depending on the setting of the inverter, the compensating movement is jerky and, in the worst case, can lead to mechanical damage.

If the reference is set, an entry is automatically made in the logbook of the controller. If this is not desired, e.g. because the position is moved cyclically, the generation of the logbook entry can be deactivated by the property DisableLogMessages.

		MC_SetPosition
AXIS_REF	-	Axis	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
LREAL	-	Position	Error	-	BOOL
BOOL	-	Relative	ErrorID	-	L_IE1P_Error
MC_EXECUTION_MODE	-	ExecutionMode
BOOL	-	Restart Positioning

Inputs

Name Data type	Information/possible settings
Axis AXIS_REF	Transfer of the axis data structure Motion axes (AXIS_REF)
Execute BOOL	FALSEäTRUE	Set axis position.
Position LREAL	Absolute position or distance in [unit]
Relative BOOL	FALSE	The axis position is set to the absolute position Position.
Relative BOOL	TRUE	The axis position is shifted by the Position distance.
ExecutionMode MC_EXECUTION_MODE	Execution mode: mcImmediately: Immediate execution mcQueued: Same functionality as "Buffered" buffer mode, i.e. start execution after the currently active motion command has been completed.
Restart Positioning BOOL	FALSE	During active positioning, the movement profile is not recalculated, but the original distance to the assigned target position is moved. Under certain circumstances, this leads to the fact that an absolute positioning of the axis is not finished at the assigned position (because a shift of the reference offset has taken place in the meantime).
Restart Positioning BOOL	TRUE	In the case of active positioning, the movement profile is automatically recalculated. This results in an absolute positioning of the axis being terminated at the commissioned absolute position (with reference to the new zero point)
UseSettingsFromHomeMode BOOL	FALSE	The values present at the inputs of the FB are used to set the reference position.
UseSettingsFromHomeMode BOOL	FALSE	If mode 97 or 98 is selected in the HomeMode (subindex 70) of the connected axis, the reference is set from the values set in subindex 84 or 86 according to the selected mode.

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	The defined axis position has been transmitted successfully into the axis.
Busy BOOL	TRUE	Processing is running.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

Properties

Name Datentyp	Value/meaning
DisableLogMessage BOOL	TRUE	No logbook entry is generated when setting the reference position.

Name

Datentyp

Value/meaning

DisableLogMessage

BOOL

TRUE

No logbook entry is generated when setting the reference position.