MC_InitAxesGrp

PLCopen motion icon Pipe Network motion icon

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 A rising edge is the transition of a digital signal from low to high. It is also called positive edge, this function 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 < (20 * Acceleration) 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 for more information.
AccelerationLimit	LREAL	0 < Velocity < (20 * Acceleration)	User unit/sec²	No default	Acceleration limit. See Limitations on Acceleration and Jerk for more information.
DecelerationLimit	LREAL	0 < Velocity < (20 * Deceleration)	User unit/sec²	No default	Deceleration limit. See Limitations on Acceleration and Jerk for more information.
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 for more information.

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 the table in PLCopen Function Block ErrorIDs.

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 the table in 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 6-126: 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 );