RM_Track – Tracking and inching

Block SymbolLicensing group: MOTION CONTROL

Function Description

The RM_Track block includes few useful functions.

If the input TRACK is active (not zero), the block tries to track requested position (input pos) with respect to the limits for velocity, acceleration/decelertation and jerk. The block expects that requested position is changed in each step and therefore recalculates the path in each step. This is difference to MC_MoveAbsolute block, which does not allow to change target position while the movement is not finished. This mode is useful if position is generated out of the motion control subsystem, even thought the MC_PositionProfile block is better if whole path is known.

If the input JOGP is active (not zero), the block works like the MC_MoveVelocity block (e.g. moves axis with velocity given by parameter pv in positive direction with respect to maximum acceleration and jerk). When input JOGP is released (switched to zero), the block activates stopping sequence and releases the axis when the sequence is finished. This mode is useful for jogging (e.g. setting of position of axis by an operator using up/down buttons).

Input JOGN works like JOGP, but direction is negative.

Note 1: This block hasn’t parameter BufferMode. Mode is always aborting.

Note 2: If more functions are selected, only the first one is activated. Order is TRACK, JOGP, JOGN. Simultaneous activation of more than one function is not recommended.

Inputs

uAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
posvel	Requested target position or velocity [unit]	Double (F64)
TRACKP	Position tracking mode	Bool
TRACKV	Velocity tracking mode	Bool
JOGP	Moving positive direction mode	Bool
JOGN	Moving negative direction mode	Bool

Parameters

pv	Maximal allowed velocity [unit/s]	Double (F64)
pa	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
pd	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
pj	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)
iLen	Length of buffer for estimation $⊙$ 10	Long (I32)

Outputs

yAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
InTrack	Requested position is reached	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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