SMC_GroupSetPathTolerance (FB)¶

FUNCTION_BLOCK SMC_GroupSetPathTolerance

Sets the path tolerance that is used for new movements. The path tolerance determines how far the axis group may deviate from the programmed path before it goes to state GroupError.

It is useful to allow for some tolerance in tracking applications, because an unforseen movement of the tracked object (e.g. the conveyor belt) may lead to a deviation from the programmed path.

The path tolerance of the axis group is only changed by this function block. It is not affected by MC_GroupContinue, MC_GroupEnable, MC_GroupDisable, or other function blocks that operate on the axis group.

Note

The path tolerance does not take effect immediately, but only with the next commanded movement. In the case that the last commanded movement was a tracking movement, when this movement finishes, then the axis group will continue to follow the tracked coordinate system (e.g. a conveyor belt). During this tracking, the path tolerances of the finished movement will be used, not the path tolerances set afterwards by this function block. In order to change the used path tolerances, it is possible to command a new tracking movement with target position equal to the target position of the previous movement.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axes
Input	`Execute`	`BOOL`	Executes the FB at the rising edge
	`MaxPositionLag`	`LREAL`	The maximum allowed position lag of the TCP in technical units [u]. Must not be negative.
	`MaxOrientationLag`	`LREAL`	The maximum allowed orientation lag of the TCP in angular degrees [deg]. Must not be negative.
	`MaxAxisLag`	`TRAFO.AXISPOS_REF`	The maximum allowed position lag of each axis in the units of the respective axis. No value may be negative.
Output	`Done`	`BOOL`	The tolerance has been applied to the axisgroup and will be effective for new movements.
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification