ABB system cpu power module 086371-502 card controller

Description

ABB system cpu power module 086371-502 card controller
This function block is used to command the axis to move to the specified absolute position in the controlled mode. This function block and GDI_ The difference between MoveAbsolute is that the target position can be
Change in any of the following ways:
a. Send another GDI_ IncR or GDI_ IncA function command (if BufferMode value is “true”)
B. Set the value of the input parameter Latchmode to “true” and set the value of the input parameter LatchOffset. After that, the Mint code on the drive will automatically change the target of the shaft
Mark the position, so that the axis continues to move for a distance equal to LatchOffset after the set quick interrupt capture position. One of Axis status words

The bit (btLatchMissed) can be used to indicate that the fast interrupt detection failed (the example program shows how to detect that three latches are missing consecutively – this case can be used to
Wake up the operator (for example, the system has failed).
You can also use GDI when you need to modify SPEED/ACCEL/DECEL during motion_ IncA。 Through GDI_ The motion loaded by MoveAbsolute will be added at that time
The loaded SPEED/ACCEL/DECEL executes. Once the motion starts, the SPEED/ACCEL/DECEL cannot be changed. Use to set the input parameter BufferMode to true
GDI of_ For IncA, you can load GDI first_ IncA motion, then load GDI with input parameter Distance set to “zero”_ IncR (including new
SPEED/ACCEL/DECEL).
Type Description
VAR_ IN_ OUT
Axis TGDIAxisRef refers to the structure of the shaft
VAR_ INPUT
Execute BOOL starts to move when there is a rising edge
Position REAL The absolute target position of the motion (in user units)
Velocity REAL maximum speed expressed in user unit/s (not necessarily reached)
Acceleration REAL The acceleration in user units/s2
Decel REAL deceleration in user unit/s2
AccelJerk REAL acceleration jerk expressed in user unit/s3 (set to 0 for trapezoidal motion)
DecelJerk REAL deceleration jerk expressed in user unit/s3 (set to 0 for trapezoidal motion)
LatchMode BOOL sets whether the axis should use the set fast latch interrupt and whether to set a new target position (i.e., at the captured position
Then continue to move “LatchOffset” user unit
ModuloAxis BOOL decides whether to use the modal axis (that is, use ENCODERWRAP to define the motion in a cycle). send
When using a modal axis, absolute motion always uses the shortest path (for example, on a modal axis of 0-360 °,
To complete the absolute movement from 20 ° to 350 °, it will move forward 30 °)
LatchOffset REAL sets the distance (in user units) to continue moving after the captured quick break position, used to modify
ABB_ GDI_ Target position of INCA (when the value of input parameter LatchMode is set to “true”)
BufferMode BOOL determines whether the function block should set Done output and whether it should be completed immediately after the motion is loaded. take
When BufferMode is set to “true”, the application can trigger further incremental motion during current motion execution
VAR_ OUTPUT
When Done BOOL “Buffer Mode” is set to “False”, this indicates that the axis has successfully reached the target position. Execute input has moved
If it is canceled in the process, when the axis completes the absolute motion, the Done output will become “true”, but only one
PLC scan cycle. If the Execute input is always true, the Done output will always be true
(If the axis successfully reaches the target position). When BufferMode is set to “true”, Done output
Set to “true” during the PLC scan cycle to indicate that the motion was loaded successfully
Busy BOOL is “true” during the execution of this function block
Error BOOL The value is “true” when the axis is wrong
ErrorID DINT indicates the Mint error code reported by the axis

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