RM_AxisOut – Axis output
Block SymbolLicensing group: MOTION CONTROL
Function Description
The RM_AxisOut block allows an access to important states of block RM_Axis. Same outputs are also available directly on RM_Axis (some of them), but this direct output is one step delayed. Blocks are ordered for execution by flow of a signal, so RM_Axis is first then all motion blocks (that actualize RM_Axis state), then RM_AxisOut (should be last) and finally waiting for next period.
Note 1: Control system REX orders blocks primary by flow of signal, secondarily by name of block (ascendent in alphabetical order), so name like "zzz" is good choice. For checking the order, you can use RexView tool where the blocks are sorted by execution order.
Note 2: almost all blocks do not work with torque so commanded torque is 0. Commanded acceleration and torque should be used as feed-forward value for position/velocity controller so this value does not make any problem.
Inputs
uAxis | axis reference that must be connected to axisRef of the RM_Axis block (direct or indirect throw output yAxis of some other block) | reference |
Input
uAxis | Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed) | reference |
Outputs
pos0 | Current commanded position [unit] | double |
vel0 | Current commanded velocity [unit/s] | double |
acc0 | Current commanded acceleration [unit/s] | double |
trq0 | Current commanded torque/force (if generated) | double |
pos1 | Next step commanded position [unit] | double |
vel1 | Next step commanded velocity [unit/s] | double |
acc1 | Next step commanded acceleration/deceleration [unit/s] | double |
trq1 | Next step commanded torque/force (if generated) | double |
pos2 | 2nd next step commanded position [unit] | double |
vel2 | 2nd next step commanded velocity [unit/s] | double |
acc2 | 2nd next step commanded acceleration/deceleration [unit/s] | double |
trq2 | 2nd next step commanded torque/force (if generated) | double |
iState | State of the axis | long |
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ErrorID | Error code | error |
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iTick | Current tick | long |
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