MC_GroupReadActualVelocity (FB)¶

FUNCTION_BLOCK MC_GroupReadActualVelocity

This function block returns the current velocity of an axis group in the selected coordinate system. This is an administrative FB, since no movement is generated.

InOut:

Scope	Name	Type	Comment
Inout	AxisGroup	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	Enable	BOOL	Get the velocity of the axis group in the selected coordinate system while enabled
	CoordSystem	SMC_COORD_SYSTEM	Applicable coordinate system
Output	Valid	BOOL	TRUE if valid outputs are available
	Busy	BOOL	The FB is not finished
	Error	BOOL	Signals that an error has occurred within the function block
	ErrorID	SMC_ERROR	Error identification
	Velocity	SMC_POS_REF	Current velocity of the group. If a cartesian coordinate system is selected, Velocity.c contains the cartesian velocity: (X,Y,Z) is the velocity vector, (A,B,C) is the angular velocity around the x, y, z axis in degrees.