Parameter (structure L_MC4P_AGBC_Parameter)
The scPar input serves to transmit the following setpoints as a structure to the FB:
|
Name |
Data type |
Initial value |
Info |
|---|---|---|---|
|
Setpoints for coordinated multi-axes movements |
|||
|
lrPathVel |
LREAL |
50 |
Velocity in [unit/s] |
|
lrPathAcc |
LREAL |
100 |
Acceleration in [unit/s 2 ] |
|
lrPathDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
lrPathJerk |
LREAL |
10000 |
Jerk in [unit/s 3 ] |
|
Setpoints for jogging: For translatory motion of the Cartesian axes (X, Y, Z) |
|||
|
lrCartesianJogVel |
LREAL |
10 |
Velocity in [unit/s] |
|
lrCartesianJogAcc |
LREAL |
100 |
Acceleration in [unit/s 2 ] |
|
lrCartesianJogDec |
LREAL |
200 |
Deceleration in [unit/s 2 ] |
|
lrCartesianJogJerk |
LREAL |
10000 |
Jerk in [unit/s 3 ] |
|
Setpoints for jogging: For rotary motion of the Cartesian axes (A, B, C) |
|||
|
lrOrientationJogVel |
LREAL |
5 |
Velocity in [unit/s] |
|
lrOrientationJogAcc |
LREAL |
50 |
Acceleration in [unit/s 2 ] |
|
lrOrientationJogDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
lrOrientationJogJerk |
LREAL |
5000 |
Jerk in [unit/s 3 ] |
|
Setpoints for jogging of real axes (A1 ... A6) and auxiliary axes (Aux1 ... Aux6) |
|||
|
lrRealAxisJogVel |
LREAL |
5 |
Velocity in [unit/s] |
|
lrRealAxisJogAcc |
LREAL |
50 |
Acceleration in [unit/s 2 ] |
|
lrRealAxisJogDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
lrRealAxisJogJerk |
LREAL |
5000 |
Jerk in [unit/s 3 ] |
|
Setpoints for absolute/relative positioning: For translatory motion of the Cartesian axes (X, Y, Z) |
|||
|
lrCartesianMoveVel |
LREAL |
10 |
Velocity in [unit/s] |
|
lrCartesianMoveAcc |
LREAL |
100 |
Acceleration in [unit/s 2 ] |
|
lrCartesianMoveDec |
LREAL |
200 |
Deceleration in [unit/s 2 ] |
|
lrCartesianMoveJerk |
LREAL |
10000 |
Jerk in [unit/s 3 ] |
|
Setpoints for absolute/relative positioning: For rotary motion of the Cartesian axes (A, B, C) |
|||
|
lrOrientationMoveVel |
LREAL |
5 |
Velocity in [unit/s] |
|
lrOrientationMoveAcc |
LREAL |
50 |
Acceleration in [unit/s 2 ] |
|
lrOrientationMoveDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
lrOrientationMoveJerk |
LREAL |
5000 |
Jerk in [unit/s 3 ] |
|
Setpoints for absolute/relative positioning of real axes (A1 ... A6) and auxiliary axes (Aux1 ... Aux6) |
|||
|
lrRealAxisMoveVel |
LREAL |
5 |
Velocity in [unit/s] |
|
lrRealAxisMoveAcc |
LREAL |
50 |
Acceleration in [unit/s 2 ] |
|
lrRealAxisMoveDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
lrRealAxisMoveJerk |
LREAL |
5000 |
Jerk in [unit/s 3 ] |
|
Parameters for GroupStop (xGroupStopExecute) |
|||
|
lrPathStopDec |
LREAL |
500 |
Deceleration along the path |
|
lrPathStopJerk |
LREAL |
50000 |
Path jerk |
|
lrRealAxisMoveDec |
LREAL |
100 |
Deceleration in [unit/s 2 ] |
|
Parameters for SetPosition |
|||
|
xGroupSetPosRelative |
BOOL |
FALSE |
Set position in relative or absolute fashion |
|
Parameters for SetPosition and Homing |
|||
|
alrHomePosition |
ARRAY[1..12] OF LREAL |
Home position (index 1..6: A1, ...A6, 7...12: Aux1...Aux6) |
|
|
Parameters for homing |
|||
|
aeHomingOrder |
ARRAY [1..12] OF L_MC4P_HomingOrder |
Sequence of homing (index 1..6: A1, ...A6, 7...12: Aux1...Aux6) |
|
|
xUseHomeExtParameter |
BOOL |
FALSE |
Selection of the homing parameters to be used
|
|
ascHomeExtParameter |
ARRAY [1..12] OF L_MC1P_HomeParameter |
Parameters for homing |
|
|
Parameters for override |
|||
|
lrORFadingTime |
LREAL |
2.5 |
Time [s] used for grinding in the override Note: The time parameterised in lrFadingTime refers to an override change by 100%. Example: lrFadingTime is parameterised to 5.0. A change in lrOverride from 0.4 to 0.6 is accepted within 1.0Â s. |