MLAxisReAlign

Description

When stopping the drive 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, which is typically calculated by the application code. After a MLAxisStop is executed, a MLAxisReAlign is required for the Pipe Position to be used again (see more details about the Restarting Motion here).

The function returns TRUE if it succeeds.

• 
  

• The realign function do not work properly if the MLAxisStop function is continuously executed via its Start input

Arguments

Input

ID	Description	ID Name of the Axis block.
	Data type	DINT
	Range	—
	Unit	N/A
	Default	—
Acceleration	Description	Sets the Realign Acceleration.
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Sets the Realign Deceleration rate.
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Speed	Description	Sets the Axis Speed.
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
DeltaPos	Description	Sets the Axis Delta Position, or the relative distance to be moved.
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

Default (.Q)	Description	Returns true when function successfully executes. See more details here.
	Data type	BOOL
	Unit	N/A

Related Functions

MLAxisReAlgnRdy

Example

Structured Text

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

Ladder Diagram

Function Block Diagram

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