SMC_GroupReadPathVelocity (FB)ΒΆ

FUNCTION_BLOCK SMC_GroupReadPathVelocity

This function block returns the path velocity of an axis group.

Any position or orientation lag (see PositionLag and OrientationLag outputs of MC_GroupReadStatus) is ignored. The dynamics are evaluated as if the axis group was following the path exactly.

This is an administrative FB, no movement is generated.

InOut:

Scope

Name

Type

Initial

Comment

Inout

AxisGroup

AXIS_GROUP_REF_SM3

Reference to a group of axes

Input

Enable

BOOL

Return the path dynamics of the axis group in the selected coordinate system while enabled.

CoordSystem

SMC_COORD_SYSTEM

SMC_COORD_SYSTEM.MCS

Coordinate system. Note: for any static coordinate system, the result will be the same. For dynamic coordinate systems, the returned dynamics are relative to this coordinate system and will depend on the movement of the PCS. The coordinate system ACS is not allowed.

Source

MC_SOURCE

MC_SOURCE.SAVE

Determines the source on which the path dynamics is based.

Note 1: if the set values of the axis group are used (MC_SOURCE.SET), then it is recommended to call SMC_GroupUpdate and to update any dynamic coordinate systems before this function block is called. For example, if MC_TrackConveyorBelt is used, then the movement function block of the belt-axis should be called before.

TimeOffset

LREAL

The time offset in seconds when to evaluate the path dynamics. Must be in [0, fPlanningForecastDuration]. fPlanningForecastDuration can be configured using SMC_TuneCPKernel. For time offsets > 0, the output will only be Valid if

While MC_GroupHalt or MC_GroupStop are active, valid path dynamics can only be obtained for TimeOffset = 0.

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

PathVelocity

LREAL

Path velocity of the group in the given coordinate system