General Information
This module carries out relative positioning with the specified max. acceleration/deceleration and velocity. The movement parameters are specified in user units. A positive edge at the x_Start input executes relative positioning of the axis. The movement occurs smoothly with 5th degree polynomials. The max. acceleration is achieved, but never exceeded; the max. velocity can be reached, but is also never exceeded. If the travel range is short, the max. velocity is not reached. The cam table is loaded after the initial run-through of the module after program start. This process lasts approx. 1 ms (BM4_O_PLC01).
Attention: The TM_PosRel function module can only be used in a synchronized setpoint event task
| Recommended task: | EVENT |
| Libraries used: | ARITHMETIC_PLC01_xxbd00 or higher Motion_Control_xxbd00 or higher |
InOut Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| di_Pos | DINT | Setpoint mechanical position of the axis in user units. |
Input Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Execute | BOOL | Pos. edge starts movement. |
| x_Break | BOOL | Positive edge stops the movement immediately. Stopping occurs with di_BreakDec. |
| di_Distance | DINT | Travel range in user units |
| di_MaxVel | DINT | Max. velocity in user units/s |
| di_MaxAcc | DINT | Max. acceleration in user units/s2 |
| di_MaxDec | DINT | Max. deceleration in user units/s2 |
| di_BreakDec | DINT | Max. deceleration upon cancellation in user units/s2 |
| i_T_Cycle | INT | Cycle time of setpoint event task in ms. 1, 2, 4 or 8 ms can be specified. |
Output Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Running | BOOL | TRUE: Movement in progress |
| x_Done | BOOL | TRUE for one cycle: Movement complete |
| di_Vel | DINT | Setpoint velocity of the axis in 1/100th user units/Ts. Ts: Cycle time of setpoint event task |
| di_Acc | DINT | Setpoint acceleration of the axis in 1/100th user units/Ts2. Ts: Cycle time of setpoint event task |
| x_Errorr | BOOL | TRUE: Error detected |
| w_ErrorId | WORD | Error number. See error table |
Errors
| w_ErrorId: | Description: |
|---|---|
| 0 | No error active. |
| 1 | Invalid cycle time. The cycle time can be 1, 2, 4 or 8 ms. |
| 2 | Traversal range exceeded. Max. traversal range: +/- 10,737,418 user units. |
| 999 | No technology license. Use PLC with technology license. |