L_MC4P_LimitDynamicsMainAxes

This FB serves to restrict the limitations of the Cartesian main axes of an axes group in the path planning from the application.

  • The limitations are considered for all MC_MoveLinear... und MC_MoveCircular... travel commands that are instructed after the activation of an L_MC4P_LimitDynamicsMainAxes instance.
  • The limitations of the FB additionally access the limitations parameterisable in the axes and do not affect the parameters of the axes. If limitations are active both in the axes and via this FB, both values are limited to the minimum.
  • The limitations do not affect MC_MoveDirect... travel commands and single axis commands.
  • The limitations are not considered in case of already instructed travel commands.
  • Single limitations can be switched off by setting the corresponding value to zero.
Note!

A simultaneous use of several FB instances is not recommended as only the instance last called is always effective.

 

 

 

L_MC4P_LimitDynamicsMainAxes

 

 

 

AXES_GROUP_KIN

-

AxesGroup

xValid

-

BOOL

BOOL

-

xEnable

xBusy

-

BOOL

ARRAY [1..6] OF LREAL

-

alrMaxAxesVel

xError

-

BOOL

ARRAY [1..6] OF LREAL

-

alrMaxAxesAcc

eErrorID

-

L_IE1P_Error

ARRAY [1..6] OF LREAL

-

alrMaxAxesJerk

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

xEnable

BOOL

TRUE

Start execution of the function block.

  • Changes in the following three limitation inputs are accepted immediately. This is also possible multiple times per application cycle.

TRUE æ FALSE

Deactivate the limitations set via the FB again.

alrMaxAxesVel

ARRAY [1..6] OF L REAL

Limitation of the axis velocity

  • Index 1 ... 3: Main axes X, Y, Z
  • Index 4 ... 6: Main axes A, B, C
  • If the input is not assigned or the value is "0", the limitation is switched off.

alrMaxAxesAcc

ARRAY [1..6] OF L REAL

Limitation of the axis acceleration

  • Index 1 ... 3: Main axes X, Y, Z
  • Index 4 ... 6: Main axes A, B, C
  • If the input is not assigned or the value is "0", the limitation is switched off.

alrMaxAxesJerk

ARRAY [1..6] OF L REAL

Limitation of the axis jerk

  • Index 1 ... 3: Main axes X, Y, Z
  • Index 4 ... 6: Main axes A, B, C
  • If the input is not assigned or the value is "0", the limitation is switched off.
Outputs

Name

Data type

Value/meaning

xValid

BOOL

TRUE

Valid values are applied to the FB outputs.

xBusy

BOOL

TRUE

Processing is running.

xError

BOOL

TRUE

An error has occurred. For details see eErrorID .

eErrorID

L_IE1P_Error

If xError = TRUE: Error number for the error that has occurred.