MC_GroupSetOverride (FB)¶

FUNCTION_BLOCK MC_GroupSetOverride

This FB allows to change the velocity, acceleration, or jerk of active and commanded movements.

The given override factors are valid until a new override is set. The value 0 set to the VelFactor or PathVelFactor leads to halt on the path, if a CP movement (even in case of tracking) is active and to an absolute halt otherwise. If MC_GroupStop is currently active, an error is returned.

Bemerkung

The dynamics of MC_GroupStop are not influenced by the override factors.
Reenabling the axis group does not reset the override factors.
The default values of the override factors are 1.
The FB does not change the state of the axis group.

Warnung

Reducing the AccFactor and/or JerkFactor can lead to a position overshoot, a possible cause of damage.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3		Reference to a group of axis
Input	`Enable`	`BOOL`		If `TRUE`, we write the value of the override factors continuously. If `FALSE`, we keep the last value.
	`VelFactor`	`LREAL`	1	Factor for axis velocities, [0 .. 1]
	`AccFactor`	`LREAL`	1	Factor for axis accelerations and axis decelerations, ]0 .. 1]
	`JerkFactor`	`LREAL`	1	Factor for axis jerks, ]0 .. 1]
	`TorqueFactor`	`LREAL`	1	Factor for axis torques, ]0 .. 1]. A dynamic model must have been set using SMC_GroupSetDynamics for these factors to have an effect.
	`PathVelFactor`	`LREAL`	1	Factor for path velocities, [0 .. 1]
	`PathAccFactor`	`LREAL`	1	Factor for path accelerations and path decelerations, ]0 .. 1]
	`PathJerkFactor`	`LREAL`	1	Factor for path jerks, ]0 .. 1]
Output	`Enabled`	`BOOL`		Signals that the override factors have been set successfully.
	`Busy`	`BOOL`		The FB is not finished
	`Error`	`BOOL`		Signals that an error has occurred within the function block.
	`ErrorID`	`SMC_ERROR`		Error identification