MC_AxisSetDefaults

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Function Block - Sets the default kinematic parameters for an axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to set the default kinematic parameters.
Axis	AXIS_REF	No range	N/A	No default	Reference to the axis which has its default kinematic parameters set.
Velocity	LREAL	0 < Velocity < (20 * Acceleration) and 0 < Velocity < (20 * Deceleration)	User unit/sec	No default	The default velocity. See Limitations on Acceleration and Jerk.
Acceleration	LREAL	Jerk > (Acceleration / 2)	User unit/sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration. See Function Block Acceleration and Jerk Parameters. See Limitations on Acceleration and Jerk.
Deceleration	LREAL	Jerk > (Deceleration / 2)	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk	LREAL	Jerk > (Acceleration / 2) and Jerk > (Deceleration / 2)	User unit/sec³	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. The Jerk value is ignored for motion. Only trapezoidal motion is supported. See S-curve and Trapezoidal Acceleration / Deceleration. See Function Block Acceleration and Jerk Parameters.

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	-2147483648 to 2147483647	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

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

-2147483648 to 2147483647

N/A

Indicates the error if Error output is TRUE.

See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
If using a dual-core controller, see Call Function Blocks Multiple Times in the Same Cycle.

See Coordinated Motion, the top-level topic for Coordinated Motion.
The MC_AxisSetDefaults function block sets the default kinematic variables for MC_MoveDirAbs and MC_MoveDirRel.
- These variables are only used with the MC_MoveDir function blocks.
Each axis in the group must have the default kinematic parameters of Velocity, Acceleration, and Deceleration set to values greater than 0 (zero).
- Each axis in the group must have these values set before a direct move can be started.
The function block returns an error if the group state is not GroupStandby or GroupDisabled.

Jerk with a non-zero value is not supported by MC_MoveDirAbs or MC_MoveDirRel.

Jerk parameters are ignored.

Figure 1: MC_AxisSetDefaults

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

 (* ST MC_AxisSetDefaults Example *)

default_velocity       := 50.0; 
default_acceleration   := 250.0;
default_deceleration   := 300.0;
default_jerk           := 1000.0;

Inst_MC_AxisSetDefaults ( TRUE, CoordAxis1_ref, default_velocity, default_acceleration, default_deceleration, default_jerk);