SMC_CheckVelocities (FB)¶

FUNCTION_BLOCK SMC_CheckVelocities

This function block checks the track speed of the particular path segments. If the OutQueue has not been created by the editor, but by the IEC program (e.g. by SMC_NCInterpreter), this function block has to be called straight before each call to the interpolator.

The main task of this function is to check the path for sharp bends and to reduce the velocity to zero at these bends.

InOut:

Scope	Name	Type	Initial	Comment
Input	bExecute	BOOL		Execution starts on the rising edge.
	bAbort	BOOL		If TRUE, the current processing of this function block is aborted
	poqDataIn	POINTER TO SMC_OUTQUEUE		This input points to the SMC_OUTQUEUE structure object, which describes the SMC_GEOINFO objects of the path; typically it points to the output poqDataOut of the preceding module (e.g. SMC_NCDecoder / SMC_SmoothPath ).
	dAngleTol	LREAL	0.001	This input describes the tolerance angle (angle leeway) up to which at a sharp bend of the path no stop shall be executed.
	bCheckAddAxVelJump	BOOL		See SMC_SmoothPath
	dMaxAddAxVelDifference	LREAL		See SMC_SmoothPath
	dDryRunVelocity	LREAL		Activation of dry run. If the value is greater than zero, dry run is active. This means that the effective maximum velocity during interpolation (including the override) is limited to the given value. If the value is zero, dry run is deactivated. Values less than zero lead to an error. A new value of the input is applied only on a rising edge of bExecute.
Output	bBusy	BOOL		TRUE, while execution of function block is not finished and the process on the path object is still running
	bError	BOOL		Signals, that an error has occurred within the function block
	wErrorID	SMC_ERROR		Error identification
	poqDataOut	POINTER TO SMC_OUTQUEUE		This output points on the SMC_OUTQUEUE structure object, which contains the path with the permissible velocity values and should now be fed to the interpolator.

Structure: