SMC_GroupReadSetAcceleration (FB)¶

FUNCTION_BLOCK SMC_GroupReadSetAcceleration

This function block returns the set-acceleration of an axis group in the selected coordinate system.

Typically, this will be the set-acceleration from the end of the previous cycle. In order to obtain the set-acceleration from the end of the current cycle, SMC_GroupUpdate has to be called before this function block, or a TimeOffset equal to the task interval has to be supplied.

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 acceleration in the selected coordinate system of the axis group continuously while enabled
	CoordSystem	SMC_COORD_SYSTEM	Applicable coordinate system
	TimeOffset	LREAL	The time offset in seconds when to evaluate the acceleration. Relative to the start of the current cycle. Must be in [0, fPlanningForecastDuration]. fPlanningForecastDuration can be configured using SMC_TuneCPKernel. Time offsets > 0 are only supported if the offset does not exceed the CurrentPlanningForecast reported by MC_GroupReadStatus, and MC_GroupHalt/MC_GroupStop/MC_GroupInterrupt are not active.
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
	Acceleration	SMC_POS_REF	Current acceleration of the group. If a cartesian coordinate system is selected, Acceleration.c contains the cartesian acceleration: (X,Y,Z) is the acceleration vector in u/s², (A,B,C) is the angular acceleration around the x, y, z axis in °/s² .
	AdditionalAxesAccelerations	SMC_ADDITIONAL_AXES_VALUES_ARRAY	Current accelerations of the group’s additional axes.