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.
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The function block returns an error if the group state is not GroupStandby or GroupDisabled.
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. |
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Unit | user units per second | |
Default | — | |
AccelerationLimit | Description | Acceleration limit |
Data type | LREAL | |
Range |
0 < Velocity < ( 20 * Acceleration ) |
|
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