SMC_GroupSetDynamics (FB)¶

FUNCTION_BLOCK SMC_GroupSetDynamics

This function block allows setting a dynamic model for an axis group. Setting a dynamic model allows the axis group to calculate and limit axis torques. Setting or changing the dynamic model is only allowed while the axis group is disabled. See SMC_ChangeDynamicLimits in SM3_Basic for setting axis torque limits.

Note

A load (see SMC_GroupSetLoad) will be reset when executing this function block.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	`Execute`	`BOOL`	The dynamic model is set on a rising edge
	`Dynamics`	`SMDYN.ISMDynamics`	The dynamic model. Setting it to 0 removes the current dynamic model and disables calculation and limitation of axis torques.
	`GravitationalAcceleration`	`SMC_VECTOR3D`	The gravitational acceleration, defined in the MCS in u/s^2.
Output	`Done`	`BOOL`	The dynamic model has been set successfully
	`Busy`	`BOOL`	The function block is not finished
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification