Type:

Data structure

Available as of:

V1.0.3.0

Inherits from:

-

Versions:

Current version

xActivateLimitation

BOOL

Activates the limits that are specified for the slave axes. If this input is TRUE, the velocity of the master axis is permanently adapted so that the specified limits for the velocity in the structure ST_IlsSlaveLimits and the acceleration of the slave axes are maintained. If the input is FALSE, the function block operates as a normal FB_EndlessFeed.

astSlaveLimits

ARRAY[1..Gc_diMaxNumberOfSlaves] OF ST_IlsSlaveLimits

Defines the velocity and acceleration limits for the individual slave axes.

lrMasterMaxAbsVel

LREAL

The function block FB_EndlessfeedIls interprets the velocity specification as an effective velocity if velocity or acceleration limits are enabled. For maintaining this effective velocity, velocity drops are compensated by an excessive surface velocity. The parameter lrMasterMaxAbsVel limits these automatic velocity increases. The limitation is deactivated using parameter 0.

lrMasterMaxAbsAcc

LREAL

Maximum permissible acceleration / deceleration of the master axes during cyclic operation. This value is used for maintaining the limits of the slave axes. If necessary, this value will be reduced internally depending on the slave curves. The difference to this is that the parameters i_lrAcc and i_lrDec are used for ramping up the master axes when setting the input i_xStart or the ramping down the master axes when resetting the input i_xStart.

lrMasterMaxAbsJerk

LREAL

Maximum allowable jerk of the master axes.

iMasterAverageVelocityCycles

INT

Number of cycles by means of which the effective velocity is measured. This is required in order to adapt the master velocity such that the specified effective velocity (i_lrVEL) is reached. iMasterAverageVelocityCycles must be at least as large as the largest diNumberOfMasterPeriods of the associated slaves.