MC_InitAxesGrp

PLCopen motion icon Pipe Network motion icon

 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

Not available.

ST Language Example

(* Inst_MC_InitAxesGrpST example *)Inst_MC_InitAxesGrp( initAxesGrp, grp, velLim, accelLim, decelLim, jerkLim );

See Also