MC_InitAxesGrp

 Function Block - Initializes the kinematic limits for the axis group.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising 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	Acceleration > (Velocity / 20) and Deceleration > (Velocity / 20) 0 < Velocity < (20 * Acceleration) and 0 < Velocity < (20 * Deceleration)	User unit/sec	No default	Velocity limit. See Limitations on Acceleration and Jerk.
AccelerationLimit	LREAL	Acceleration > (Velocity / 20)	User unit/sec2	No default	Acceleration limit. See Limitations on Acceleration and Jerk.
DecelerationLimit	LREAL	Deceleration > (Velocity / 20)	User unit/sec2	No default	Deceleration limit. See Limitations on Acceleration and Jerk.
JerkLimit	LREAL	Jerk > (Acceleration / 2) and Jerk > (Deceleration / 2)	User unit/sec3	No default	Jerk limit. See Limitations on Acceleration and Jerk.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
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. See 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 1: MC_InitAxesGrp

FBD Language Example

FFLD Language Example

IL Language Example

BEGIN_IL
     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 );

See Also

• MC_CreateAxesGrp
• MC_ErrorDescription