Y_AX_AccDecLimits
This function block manages the parameters associated with enabling/disabling the acceleration and deceleration limits. The limits can be enabled or disabled and the values of the limits can be input and verified at the output. The outputs are provided as an echo from the motion engine. This function allows for streaming of variable limits.
The function block uses MC_ReadBoolParameter, MC_WriteBoolParameter, MC_ReadParameter, and MC_WriteParameter.
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| V | LimitAccDecEnable | BOOL | Enables or Disables the Limit Accel Decel function. Parameter 1222 and 1232 are combined | FALSE |
| V | LimitAccelPositive | LREAL | Parameter 1221 | LREAL#0.0 |
| V | LimitAccelNegative | LREAL | Parameter 1220 | LREAL#0.0 |
| V | LimitDecelPositive | LREAL | Parameter 1231 | LREAL#0.0 |
| V | LimitDecelNegative | LREAL | Parameter 1230 | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| V | LimitAccDecEnableEcho | BOOL | Echo of parameter 1222 ANDed with 1232 | |
| V | LimitAccelPositiveEcho | LREAL | Echo of parameter 1221 echoed from motion engine | |
| V | LimitAccelNegativeEcho | LREAL | Echo of parameter 1220 echoed from motion engine | |
| V | LimitDecelPositiveEcho | LREAL | Echo of parameter 1231 echoed from motion engine | |
| V | LimitDecelNegativeEcho | LREAL | Echo of parameter 1230 echoed from motion engine | |
| 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:
- The software acceleration and deceleration limits are managed in the controller.
- When an acceleration or deceleration limit is exceeded, a controller alarm is generated. It can be read using MC_ReadAxisError or the web server.
- The controller alarm will be 16#3202 0005 if the positive position limit is exceeded and 16#3202 0006 if the negative position limit is exceeded.
Acceleration Limits
- Acceleration is defined as increasing velocity away from zero.
- The parameters are called LimitAccelPositive (parameter 1221) and LimitAccelNegative (parameter 1220). Use MC_WriteParameter to write these values. Acceleration limit parameters are in user units / sec².
- To disable the acceleration limit, set LimitAccelEnable (parameter 1222) to 0.
Deceleration Limits
- Deceleration is defined by decreasing velocity towards zero.
- The parameters are called LimitDecelPositive (parameter 1231) and LimitDecelNegative (parameter 1230). Use MC_WriteParameter to write these values. Deceleration limit parameters are in user units / sec².
- To disable the deceleration limit, set LimitDecelEnable (parameter 1232) to 0.
Error Description:
See the
Function Block ErrorID List