Function BlockMC_InitAxesGrpPLCopen motion iconPipe Network motion icon

Description

MC_InitAxesGrp initializes the kinematic limits for the axis group. During a move, the motion engine verifies that the limits are not exceeded.


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

Figure 7-167: MC_InitAxesGrp

Related Function Blocks

MC_CreateAxesGrp, MC_ErrorDescription

Coordinated Motion, the top-level topic for Coordinated Motion.

Arguments

Inputs

Execute Description On the rising edgeClosed A rising edge is the transition of a digital signal from low to high. It is also called positive edge, this function block will initialize the axis group.
  Data type BOOL
  Range 0, 1
  Unit N/A
  Default
AxesGroup Description The axis group to be initialized
  Data type AXIS_GROUP_REF
  Range N/A
  Unit N/A
  Default
VelocityLimit Description Velocity limit
  Data type LREAL
  Range 0 < Velocity < ( 20 * Acceleration ) and 0 < Velocity < ( 20 * Deceleration)
See Limitations on Acceleration and Jerk for more information.
  Unit user units per second
  Default
AccelerationLimit Description Acceleration limit
  Data type LREAL
  Range

0 < Velocity < ( 20 * Acceleration )
See Limitations on Acceleration and Jerk for more information.

  Unit user units per second2
  Default
DecelerationLimit Description Deceleration limit
  Data type LREAL
  Range 0 < Velocity < ( 20 * Deceleration)
See Limitations on Acceleration and Jerk for more information.
  Unit User units per second
  Default
JerkLimit Description Jerk limit
  Data type LREAL
  Range ( Velocity / 20 ) < Acceleration < ( 2 * Jerk ) and ( Velocity / 20 ) < Deceleration < ( 2 * Jerk )
See Limitations on Acceleration and Jerk for more information.
  Unit User units per second3
  Default  

Outputs

Done Description

If True, then the command completed successfully.

  Data type BOOL
Error Description

If True, then an error has occurred.

  Data type BOOL
ErrorID Description Indicates the error if Error output is set to TRUE. See the table in PLCopen Function Block ErrorID Output
  Data type INT

Example

Structured Text

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

IL

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

FBD

FFLD

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