MC_GroupReadActualVel
This Function Block returns the actual velocity in the selected coordinate system of an AxesGroup.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| B | CoordSystem | MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. This defines the meaning of the "Velocity" output value. |
MC_CoordinateSystem#ACS |
| E | VelocityUnit | Yt_VelocityUnit | Enumeration with the following values: 0= UseTranslationalScalars, 1 = UseRotationalScalars, 2 = UseNSpaceScalars This defined the meaning of the PathVelocity Value. - UseTranslationalScalars : PathVelocity will show the Vectorial speed of the linear coordinates =SQRT(X²+Y²+Z²) -UseRotationalScalars: PathVelocity will show the Vectorial speed of the rotational coordinates = SQRT(Rx²+Ry²+Rz²) - UseNSpaceScalars : PathVelocity will show the Vectorial speed of all coordinates = SQRT(X²+Y²+Z²+Rx²+ Ry ²+ Rz) |
Yt_VelocityUnit#UseTranslationalScalars |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| E | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
| B | Velocity | VECTOR | Current velocity of the group: of the different axes (ACS) / of the TCP (MCS & PCS). | |
| E | PathVelocity | LREAL | Current path velocity (speed, combined result) of the TCP depending of the Velocity Unit defined. | |
Notes
- This FB is only supported for Locally Hosted Group. For MotomanSync Group, Y_MS_SetOptionMonitor and Y_MS_ReadOptionMonitor can be used to read velocity for each joint.
Error Description
See the Function Block ErrorID List.