MLAxisWritePos

Pipe Network motion icon

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. - Sets a new value to an axis’ current location.

After this function is called, the axis’ current location will have a value equal to the Position argument.

About associated data on Positions

This data are illustrated in the figure below.

All positions are in user units with modulo applied if active, unless specified.

Position / Offset	Description
Actual Position	Actual Position is the actual position of the underlying axis as reported by the drive. It is the sum of the feedback value (Position actual value) returned from the communication link to the drive and any zero-offset due to an MLWritePos function block (MLAxisWritePipPos, MLAxisWritePos). ActualPos := FeedbackPos + ZeroOffset
Feedback Position	Feedback Position is the current position the drive reports for an axis, scaled to user units. It does not take into account the value of the Zero Offset or axis modulo.
Generator Position	Generator Position is the summation of all previous commands (i.e., calls to functions which perform motion such as MLAxisAbs, MLAxisMoveVel, and MLAxisRel) to the Axis internal motion generator. It is modified by MLAxisWritePos to insure no jumps in the Reference Position command. It accumulates changes in pipe position due to activate and deactivation of the pipe the Axis block is associated with.
Pipe Position	The output of the convertor block is written into the Pipe Position value whenever the Convertor block is connected to the axis and the pipe is active.
Reference Position	Reference Position is the commanded axis position sent to the drive. It is the summation of Pipe Position and Generator Position. ReferencePosition = Pipe Position + Generator Position
Zero Offset	The Zero Offset adjusts the coordinate system so the Actual Position reports correct values after homing or using MLAxisWritePos.

Arguments

Input

ID	Description	ID Name of the Axis block.
	Data type	DINT
	Range	—
	Unit	N/A
	Default	—
Position	Description	The new value for the axis’ current location.
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

Default (.Q)	Description	Returns true when function successfully executes. See Function - General Rules for more information.
	Data type	BOOL
	Unit	N/A

Previous Function Name

MLAxisSetZero

Example

Structured Text

 MLAxisWritePos(PipeNetwork.Axis1, 0) ;

Ladder Diagram

MLAxisWritePos: LD example

Function Block Diagram

MLAxisWritePos: FBD example

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