MLAxisReAlign

 Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Realigns the actual position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. with the reference position by moving the axis by the specified delta position.

• Causes the Axis to move by a programmed The act of performing a sequence of instructions or commands. amount without changing the Reference Position following an MLAxisStop.
• Allows the Pipe Position to be used following an MLAxisStop.

Inputs

Input	Data Type	Range	Unit	Default	Description
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec2	No default	Sets the Realign Acceleration. See Set the Axis Block Position Units.
Deceleration	LREAL	No range	User unit/sec2	No default	Sets the Realign Deceleration rate. See Set the Axis Block Position Units.
DeltaPos	LREAL	No range	User units	No default	Sets the Axis Delta Position or the relative distance to be moved. See Set the Axis Block Position Units.
ID	DINT	No range	N/A	No default	ID Name of the Axis block.
Speed Speed is the absolute value of the velocity without direction.	LREAL	No range	User unit/sec	No default	Sets the Axis Speed. See Set the Axis Block Position Units.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Returns TRUE when the function successfully executes. See Pipe Network - General Rules.

Remarks

• 
  

• The realign function does not work properly if the MLAxisStop function is continuously executed using its Start input.

• When stopping the drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. a motion profile is applied to decelerate.
• During the deceleration, the Reference position changes.
• Calling MLAxisReAlign realigns the actual position with the reference position by moving the axis by the specified delta position, typically calculated by the application code.
• After a MLAxisStop is executed, MLAxisReAlign is required for the Pipe Position to be used again.
• See Restarting Motion with Pipe Network.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

 MLAxisReAlign(PipeNetwork.Axis1, 100000, 100000, 500, 20 )  ;

See Also

MLAxisReAlgnRdy