SMC_ChangeDynamicLimits (FB)¶

FUNCTION_BLOCK SMC_ChangeDynamicLimits

Sets the dynamic limits (maximum velocity, acceleration, jerk, torque) for an axis. May only be called if the axis is in state power_off or standstill.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3
Input	bExecute	BOOL		Rising edge: Changes the limits.
	fMaxVelocity	LREAL		The maximum velocity in u/s. Must be positive.
	fMaxAcceleration	LREAL		The maximum acceleration in u/s². Must be positive.
	fMaxDeceleration	LREAL		The maximum deceleration in u/s². Must be positive.
	fMaxJerk	LREAL		The maximum jerk in u/s³. Must be positive.
	fMaxTorque	LREAL	FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf)	The maximum torque or force in Nm or N. The torque limit is interpreted based on the gearbox output. Use SMC_SetAdditionalConversionFactors to take the gearbox into account.
Output	bDone	BOOL		TRUE: New limits have been set.
	bError	BOOL		TRUE: An error has occurred.
	bBusy	BOOL		TRUE: The function block is in operation.
	ErrorID	SMC_ERROR		Error identification