Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 136)

L-force | PLC Designer - SoftMotion
The SM_PLCopen.lib library
POUs for the motion control of individual axes
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DMS 5.2 EN 03/2011 TD17
6.2.20 MC_PositionProfile
This program organisation unit from SM_PLCopen.lib follows a defined position profile. A
variable of the MC_TP_REF structure must be defined and filled in.
MC_TP_REF variables
MC_TP variables
The program organisation unit uses the defined positions to create a double, continuously
differentiable curve composed of cubic polynomials.
Inputs/outputs (VAR_IN_OUT)
Axis : AXIS_REF
The structure that is filled with axis data in the Drive Interface (SM_DriveBasic.lib) is shown
here.
TimePosition : MC_TP_REF
Information on time and position values, see above.
Variable Type Initial value Description
Number_of_pairs INT 0 Number of profile position points
IsAbsolute BOOL TRUE Absolute or relative positions
MC_TP_Array ARRAY[1..100] OF
SMC_TP
Position points
Variable Type Initial value Description
delta_time TIME T#0s Period of time between arrival at the
previous position point and this one
position REAL 0 (Absolute/relative) position of the position
point