Specifying user-specific setpoint curves

In some applications, it might be necessary for an axis to follow a special setpoint curve that cannot be realized using the options of the MOVIKIT^® PLCopen MotionControl. In these cases, the user has the option of programming the desired setpoint curve in the user program and having the relevant axis follow this setpoint curve, e.g. with the MC_GearIn function block.

Two scenarios can be distinguished here:

• Case 1: The source of the setpoint curve already exists, e.g. in the form of a function block that calculates the corresponding variables (position, if possible also speed and acceleration). This setpoint curve should now be fed to the slave axis. In order for this to be able to follow the setpoint curve with the help of the MC_GearIn function block, for example, the setpoint curve must be routed via an object of type AXIS_REF, which is connected to the MC_GearIn function block as the "master". In this case, the setpoint curve is fed to the object of type AXIS_REF from outside.

• 

  

• Case 2: The calculation of the setpoint curve is to be implemented directly in a function block of type AXIS_REF, which is then connected to the function block MC_GearIn as the "master". In this case, the setpoint curve is generated in the object of type AXIS_REF.

• Case 1: Setpoint curve is fed in from outside
• Case 2: Setpoint curve is generated internally