Motion Control Function Blocks


The function block files are subdivided into the standard library, GMC library (motion control), technology library and various platform dependent libraries.
The following blocks are examples of a wide variety of function blocks from the GMC library.

Positioning - Function block POSMC

In addition to the setpoint for the selected position, the positioningblock simultaneously provides the associated feed-forwardvariables such as speed and acceleration. This provides ahigh dynamic performance.

Adjustable parameters for positioning

The positioning procedure can be optimally adapted to the applicationrequirements.
The following are adjustable:

  • Maximum speed

  • Maximum acceleration

  • Maximum jerk

The target position can be reached in the shortest possible time or without overshoots.
In addition to absolute positioning, relative positioning is also possible for linked movements.

Engaging/disengaging function - Function block EDC

The engaging function drives the axis from standstill by the defined engaging length.
The disengaging function brakes a drive down to standstill, and accelerates it again to the master speed when the disengaging length has been reached.
Engaging and disengaging lengths are adjustable and can be increased on-the-fly.
Rounding can also be defined for the movements.

Engaging and disengaging functions

Electronic cam - Function blocks TAB and TABCAM

Cams are saved in the TAB block as tables containing approximately 16 000 to 250 000 interpolation points. The tables are evaluated by the TABCAM block. Using the table, this determines the slave position to be driven to for a certain master position, as well as the speed. Linear interpolation is carried out between two points.
A multiplexer block can be used to switch between several tablesduring operation.

Loading and evaluation of tables

06/23/2010 | Author: Name