SMC_GroupSetAncillaryPathLimits (FB)¶

FUNCTION_BLOCK SMC_GroupSetAncillaryPathLimits

This function block configures so called ancillary dynamic path limits for an axis group, that is ancillary limits for the velocity, acceleration, deceleration, and jerk along the path.

The ancillary limits allow for an easy programming of different operating modes of a robot, for example a manual mode in which the robot may only move slowly for safety reasons.

The effective dynamic path limits for a movement are built from the following inputs:

C: the commanded path limits for a movement (inputs Velocity, Acceleration, …),

O: the current path override factors, and

A: the ancillary path limits.

The effective path limits L are computed from these inputs as L = O * min(A, C).

Note

This function block may not be called in the states GroupDisabled or GroupErrorStop, and, if ExecutionMode equals Immediately, no MC_GroupStop may be active.
No path limit may be zero or negative. Otherwise, the function block returns an error.
MC_GroupStop ignores ancillary limits.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to an axis group
Input	`Execute`	`BOOL`	Sets the limits on rising edge.
	`ExecutionMode`	MC_EXECUTION_MODE	Describes when the new limits become active.
	`Limits`	SMC_DYN_LIMITS	The ancillary dynamic limits. `fTorqueMax` is ignored.
Output	`Done`	`BOOL`	The limits 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