MC_GroupSetOverride
This function block accepts override inputs for coordinated motion. The commanded vector velocity, acceleration, deceleration are multiplied by these factors. Group motion affected by master- slave synchronized motion is not affected.
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 | VelFactor | LREAL | Override factor for group vector velocity. The range is 0.0 to 1.0. |
LREAL#1.0 |
| E | AccFactor | LREAL | Not implemented. Reserved for future use. Effective AccelFactor is always VelFactor squared. |
LREAL#1.0 |
| 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. |
|
| B |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Notes
- AccelFactor override is not implemented, but is reserved for future use. Effective AccelFactor is always VelFactor squared.
- The current velocity of the group, and its currently active move command acceleration parameters, are used to determine the rate of acceleration to the new target velocity.
- The input value can be changed at any time and will be immediately accepted if valid.
- If the Error output is TRUE, then the Enable input must be toggled FALSE to clear the error before the input will be checked again.
- Multiple function blocks acting on the same group are allowed but not recommended. Each function block will take effect immediately as it is executed.
- The last valid value remains in effect indefinitely or until PLC reset.
- The group state machine is not affected by this function block. The function block may be called in any group state (including error and disabled).
- VelFactor 0 stops the group without changing it to the state GroupStandby. Motion may immediately be resumed by increasing VelFactor.
- Each group has an independent override value which is applied to all its coordinate frames (ACS, MCS, PCS, WCS.)
- If the group is tracking another axis or group, the tracking motion is unaffected. Only superimposed motion from MCS or PCS moves will be scaled by the override factors.
- This function block may not be called on a group which is currently a synchronized slave (MC_SyncGroupToAxis)
Error Description
See the Function Block ErrorID List.