MMF_SUB: Standard Subroutine

Function Description

This function block can be used to execute any MMF standard subroutine except moves to CoordinatedSets (see MMF_ESUB).

Additional parameters and may be configured.

FBD Representation

Representation:

LD Representation

Representation:

IL Representation

Representation:

CAL MMF_SUB_Instance (S:=setAccel, R:=accelSet, AXIS_ID:=1,
    OPCODE:=MMF_setAccel, PAR3:=10000.0, MFB:=MFB,
    Q=>accelSet)

ST Representation

Representation:

MMF_SUB_Instance (S:=setAccel, R:=accelSet, AXIS_ID:=1,
    OPCODE:=MMF_setAccel, PAR3:=10000.0, MFB:=MFB,
    Q=>accelSet) ;

Parameter Description

Description of input parameters.

Parameter	Data Type	Meaning
S	BOOL	Rising input starts subroutine.
R	BOOL	Resets block and prevents subroutine from starting (does not halt a subroutine in progress.)
AXIS_ID	INT	Axis ID for this subroutine.
OPCODE	INT	Unique number of the subroutine to be executed.
PAR1	UDINT	First parameter for this subroutine.
PAR2	UDINT	Second parameter for this subroutine.
PAR3	REAL	Third parameter for this subroutine.
PAR4	REAL	Fourth parameter for this subroutine.

Description of in-output parameters.

Parameter	DataType	Meaning
MFB	MMFBlock	Must be connected to the MMFStart block of 200 registers (usually named MFB).

Description of output parameters.

Parameter	DataType	Meaning
Q	BOOL	True when this subroutine has been recognized by the motion controller (reset by R).
ERROR	INT	First error code that is generated upon attempting to start this subroutine (written only when Q rises).
RET1	UDINT	First return value from this subroutine.
RET2	REAL	Second return value from this subroutine.
RET3	REAL	Third return value from this subroutine.

Example

The Boolean setAccel turns on, and the new value for the acceleration is written to axis number 1. This block can also be used to get the current settings for parameters in the motion controller. For a list of the correct parameters associated with any Motion C function refer to your MMF user manual.

Runtime Errors

For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.

REAL

The REAL type is encoded in a 32 bit format.

The possible value ranges are shown in the figure below:

When a result is:

between -1,175494e-38 and 1,175494e-38, it is considered to be a DEN;
less than -3.402824e+38, the symbol -INF (for - infinity) is displayed;
greater than +3.402824e+38, the symbol INF (for + infinity) is displayed;
undefined (square root of a negative number), the symbolNAN is displayed.

NOTE: The IEC 559 standard defines two classes of NAN: the silent NAN (QNAN) and the signaling NAN (SNAN). A QNAN is a NAN with a most significant fraction bit while an SNAN is a NAN without a most significant fraction bit (bit number 22). QNANs can be propagated via most arithmetic operations without throwing an exception. As for SNANs, they generally indicate n invalid operation when they are used as operands in arithmetic operations (see %SW17 and %S18).

NOTE: When a DEN (non-standardized number) is used as an operand, the result is not significant.