MC_GrpReadCmdVel
Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Reads the command 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 of the axes in the group and the path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. velocity.
Inputs
Outputs
Output |
Data Type |
Range |
Unit |
Description |
---|---|---|---|---|
Valid |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, the velocities were read without error. |
Error |
BOOL |
FALSE, TRUE |
N/A |
If TRUE, an error has occurred. |
ErrorID |
INT |
No range |
N/A |
Indicates the error if Error output is TRUE. |
PathVelocity |
LREAL |
No range |
User unit/sec |
The current commanded path velocity of the group. This is measured by taking the square root of the sum of the squared velocities of each axis. |
Remarks
-
-
This function or function block returns cached data.
See Program a Multi-Core Controller.
- See Coordinated Motion, the top-level topic for Coordinated Motion.
- See Function Blocks - General Rules about how inputs and outputs work.
- The MC_GrpReadCmdVel function block fills the array specified by the
Velocity
argument with the commanded velocity for the coordinate system, which is specified by theCoordSystem
argument.- The path velocity is reported by the PathVelocity output.
- This function or function block does not generate any motion.
-
-
Only the ACS coordinate system is supported.
See Coordinate Systems.
- There is a one-to-one correspondence between the axes in the Axes Group and the velocity values in the Velocity Array.
- Each element in the Velocity Array corresponds to the axis element in the Axis Group array.
- If a index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. in the Axes Group is unassigned, the velocity value for that array element in the Velocity array is 0 (zero).
- If a index in the Axes Group is unassigned, the velocity value for that array element in the Velocity array is 0 (zero).
- If the element does contain an axis, the velocity value is filled with the current velocity for that axis.
Figure 1: MC_GrpReadCmdVel
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_GrpReadCmdVel( DoRead, Group, CoordSys, VelList )
END_IL
ST Language Example
(*MC_GrpReadCmdVel ST Structured text - A high-level language that is block structured and syntactically resembles Pascal. example *)
Inst_MC_GrpReadCmdVel(DoRead, Group, CoordSys, VelList );
See Also