MC_InitAxesGrp

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 7-160: 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 edgeA 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 second²
	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_IL"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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