RM_AxisOut –  Axis output

Block SymbolLicensing group: MOTION CONTROL
PIC

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.axisRefuAxis or yAxisuAxis connections are allowed)

reference

Outputs

pos0

Current commanded position [unit]

double

vel0

Current commanded velocity [unit/s]

double

acc0

Current commanded acceleration [unit/s2]

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/s2]

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/s2]

double

trq2

2nd next step commanded torque/force (if generated)

double

iState

State of the axis

long

0 ....

Disabled

1 ....

Stand still

2 ....

Homing

3 ....

Discrete motion

4 ....

Continuous motion

5 ....

Synchronized motion

6 ....

Coordinated motion

7 ....

Stopping

8 ....

Error stop

ErrorID

Error code

error

i ....

REX general error

iTick

Current tick

long