Hi
I’m using the MpAxisBasic FB, is there a possibility to detect start point of deccelerating the axis?
The purpose is to connect additive movements of the axis with different velocities and distances without stopping between the movements.
Regards ,
Oliver
Hello,
As far as i know, there is no information when the Axis is starting to deccelerate.
Option 1)
You could supervice the Set-Velocity and as soon its reducing you know that your in the Deceleration phase.
IF (MpAxisBasic.Velocity - VelocityOld) < 0 THEN // optional us a threshold
// Slowing Down
END_IF
VelocityOld := MpAxisBasic.Velocity;
Option 2)
Use the Feature PathGen which will enable you to use Buffer modes. So you can combine multiple MoveAdditive Instances and program your Countur. The Path will be planed on the PLC and not on the ACOPOS, which means it consumes more PLC ressource.
AS-Help: Axis-Feature ProfGen Configuration
MC_MoveAdditive_0. ....
MC_MoveAdditive_0.BufferMode := mcABORTING;
MC_MoveAdditive_0.Execute := 1;
MC_MoveAdditive_0();
MC_MoveAdditive_0. ....
MC_MoveAdditive_1.BufferMode := mcBLENDING_LOW;
MC_MoveAdditive_1.Execute := 1;
MC_MoveAdditive_1();
You can combine the MpAxisBasic with the MC_MoveAdditive from the PLCopen McAxis Library.
Greetings
Michael