Overview

Description

The Move block is used to perform point to point motion using an S-Curve velocity profile. A move can only be triggered for execution when the block and related motion supervisor are both in an idle state while the Execute input is non-zero. At the point of execution, Position, Velocity, Acceleration, Deceleration, and Jerk Percent input values are adopted for use as parameters for the move. The units for all move parameter inputs are in terms of encoder counts. Upon completion of a move (idle state), the output value is 1.0 and 0.0 otherwise.

Example

This example shows a simple PID Filter controlling Axis 0. It also has a Move block which is controlled by a Node Digital Input, and a Motion Stop followed by a Motion Reset which is also controlled by a Node Digital Input

The Move block requires Move parameters similar to mpiMotionStart (Position, Velocity, Acceleration, Deceleration, Jerk). The Execute trigger on the Move block required a non-zero value to command the move. When the Digital Input goes high, the move begins.

The configuration values for this block are as follows:

Motion Supervisor Number	The number of the motion supervisor whose axes will be stopped. This number may be absolute or linked to the Model Number.
Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth) or background. This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

The Itrp (opt) output is an output which only relates to simulation.

Note: This output is only used when simulating within Simulink and is ignored when the model is downloaded to a controller.

The Interrupt pin is used on all Motion Simulation blocks to allow them to communicate with a central trajectory planner, interpret events, and change the trajectory as required. When Bit 5 is triggered by the Move block, the trajectory information is used to simulate a Motion Modify given the parameters specified in the Move Block.

The Motion Supervisor Number of the Move block specifies which motion supervisor to command a move from (same as axis/motor number when using default mappings).

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. For more information, see User Data Storage.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink model:

C++ API

MOVEBlock

Declaration

Public Method

	class MOVEBlock: public virtual Block { public: // User accessible coefficients long MSNumber; };
	Required Header: mechaware.h

Description

The MOVE block executes S-Curve moves as configured by the input values. See overview for details.

Parameters

long

MSNumber

Motion Supervisor number

Methods

Block Methods

Overview

Overview

Matlab/Simulink

Simulink Interface

C++ API

MOVEBlock

See Also