MC_GroupReadActualAcceleration

This FB serves to read the current acceleration of the axes group in the selected coordinate system.

This is an administrative FB as no motion command is generated.

		MC_GroupReadActualAcceleration
AXES_GROUP_REF	-	AxesGroup	Valid	-	BOOL
BOOL	-	Enable	Busy	-	BOOL
L_MC4P_CoordSystem	-	CoordSystem	Error	-	BOOL
			ErrorID	-	L_IE1P_Error
			Acceleration	-	ARRAY [1..12] OF LREAL
			PathAcceleration	-	LREAL

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_REF	axes group reference
ENABLE BOOL	TRUE	Read current acceleration of the axes group continuously.
CoordSystem L_MC4P_CoordSystem	Selection of the coordinate system to be used: WCS: World Coordinate System MCS: Machine Coordinate System ACS: Axes Coordinate System PCS_1 ... PCS_16: Product Coordinate System (1 ... 16) Coordinate systems and transformations

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

ENABLE

BOOL

TRUE

Read current acceleration of the axes group continuously.

CoordSystem

Selection of the coordinate system to be used:

WCS: World Coordinate System

MCS: Machine Coordinate System

ACS: Axes Coordinate System

PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Name Data type	Value/meaning
Valid BOOL	TRUE	Valid values are applied to the FB outputs.
Busy BOOL	TRUE	Processing is running.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.
Acceleration ARRAY [1..12] OF LREAL	Current acceleration of the axes group: [1; 6] When ACS is selected: Acceleration of the drive axes. When WCS , MCS or PCS are selected: Acceleration of the TCP in the selected coordinate system. Index 7 ... 12 = axis accelerations of the optionally available auxiliary axes.
PathAcceleration LREAL	Currently resulting acceleration of the TCP