Y_AX_VelocityLimits
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. | |
| 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 | LimitVelocityEnable | BOOL | Enables / Disables the velocity limit function in the motion engine. | FALSE |
| V | LimitVelocityPositive | LREAL | The maximum commanded velocity allowed | LREAL#0.0 |
| V | LimitVelocityNegative | LREAL | The minimum commanded velocity allowed | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| V | LimitPositionEnableEcho | BOOL | Status of the Velocity Limit function from the motion engine. | |
| V | LimitPositionPositiveEcho | LREAL | Value used by the motion engine for the maximum allowed commanded velocity. | |
| V | LimitPositionNegativeEcho | LREAL | Value used by the motion engine for the minimum allowed commanded velocity. | |
| 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. | |
Notes:
The function block uses MC_ReadBoolParameter, MC_WriteBoolParameter, MC_ReadParameter, and MC_WriteParameter.
• The software velocity limits are managed by the MP2000iec controller. The parameters are called LimitVelocityPositive and LimitVelocityNegative, with values of UINT#1211 and UINT#1210 respectively. Use the MC_WriteParameter function block for these and all controller side parameters. Velocity limit parameters are in user units / sec.
• When a velocity limit is exceeded, a controller alarm will be generated, obtainable via the MC_ReadAxisError function block, or the web server.
• The controller alarm will be 16#3202 0003 if the positive velocity limit is exceeded and 16#3202 0004 if the negative velocity limit is exceeded.
• To disable the velocity limits, set LimitVelocityEnable, parameter 1212 to zero.
• LimitVelocityPositive must be zero or greater.
• LimitVelocityNegative must be zero or lower.