MC_InitAxesGrp

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Initializes the kinematic limits for the axis group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., this function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block initializes the axis group.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axes group to be initialized.
VelocityLimit	LREAL	0 < Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP < (20 * Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)) and 0 < Velocity < (20 * Deceleration) 0 < Velocity < (20 * Acceleration) and 0 < Velocity < (20 * Deceleration)	User unit/sec	No default	Velocity limit. See Limitations on Acceleration and Jerk.
AccelerationLimit	LREAL	0 < Velocity < (20 * Acceleration)	User unit/sec2	No default	Acceleration limit. See Limitations on Acceleration and Jerk.
DecelerationLimit	LREAL	0 < Velocity < (20 * Deceleration)	User unit/sec2	No default	Deceleration limit. See Limitations on Acceleration and Jerk.
JerkLimit	LREAL	(Velocity / 20) < Acceleration < (2 * Jerk) and (Velocity / 20) < Deceleration < (2 * Jerk)	User unit/sec2	No default	Jerk limit. See Limitations on Acceleration and Jerk.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	If TRUE, the command completed successfully.
Error	BOOL	No range	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• 
  

• The function block returns an error if the group state is not GroupStandby or GroupDisabled.

• See Coordinated Motion, the top-level topic for Coordinated Motion.
• During a move, the motion engine verifies that the limits are not exceeded.

Figure 1: MC_InitAxesGrp

FBD Language Example

FFLD Language Example

IL Language Example

BEGIN_IL Instruction list - This is a low-level language and resembles assembly.
     CAL Inst_MC_InitAxesGrp( initAxesGrp, grp, velLim, accelLim, decelLim, jerkLim )
END_IL

ST Language Example

(* Inst_MC_InitAxesGrpST example *)Inst_MC_InitAxesGrp( initAxesGrp, grp, velLim, accelLim, decelLim, jerkLim );

See Also

• MC_CreateAxesGrp
• MC_ErrorDescription