设定位置与接收新反馈之间的延迟时间为 2x PLK 周期 + 6 ms。
下面的示例演示了MC_BR_MoveCyclicPosition_Acp6D 和MC_BR_ReadCyclicPosition_Acp6D 的行为。该示例假定 PLK 周期时间为 1 ms。
时间（毫秒） |
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B&R PLC |
定义新的参考位置。 |
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PLC 接收新的反馈。 |
6D 控制器 |
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接收新的参考位置。 |
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更新托盘参考位置。 |
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检测到新的反馈位置。 |
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托盘 |
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托盘移动。 |
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The delay between the set position and the reception of new feedback is 2x PLK cycle + 6 ms.
The following example demonstrates the behavior of MC_BR_MoveCyclicPosition_Acp6D and MC_BR_ReadCyclicPosition_Acp6D. The example assumes a PLK cycle time of 1 ms.
Time (ms) |
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B&R PLC |
Define the new reference position. |
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The PLC receives new feedback. |
6D controller |
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Receive the new reference position. |
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The shuttle reference position is updated. |
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The new feedback position is detected. |
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Shuttle |
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Shuttle moves. |
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