FB_DeclampingStation - SetDeclampMotionParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

Task

Setting specific motion parameters for the declamping movement.

Description

With the method SetDeclampMotionParameter, you can set specific motion parameters for declamping movements. When the method has been called with a declamp velocity greater than 0.0, the declamping movements in the process are executed with the motion parameters defined by the method.

NOTE: The method SetDeclampMotionParameter is optional.

The return value SetDeclampMotionParameter of type BOOL indicates TRUE if the motion parameters have been set successfully.

Inputs

Input	Data type	Value range	Unit	Description
i_lrDeclampVelocity	LREAL	MCR.GCL.Gc_lrMinVelocity ≤ i_lrDeclampVelocity ≤ MCR.GCL.Gc_lrMaxVelocity ⁽¹⁾	mm/s	Specifies the velocity (change of position per time unit) during the declamping movements. If i_lrDeclampVelocity = 0.0, the motion parameters that are used for the movement of the carriers arriving at the declamping station are also used during the declamping process.
i_lrDeclampAcceleration	LREAL	MCR.GCL.Gc_lrMinAcceleration ≤ i_lrDeclampAcceleration ≤ MCR.GCL.Gc_lrMaxAcceleration ⁽¹⁾	mm/s²	Specifies the acceleration (change of velocity per time unit) during the declamping movements.
i_lrDeclampDeceleration	LREAL	MCR.GCL.Gc_lrMinDeceleration ≤ i_lrClampDeceleration ≤ MCR.GCL.Gc_lrMaxDeceleration ⁽¹⁾	mm/s²	Specifies the deceleration (change of velocity per time unit) during the declamping movements.
i_lrDeclampJerk	LREAL	MCR.GCL.Gc_lrMinAbsJerk ≤ i_lrDeclampJerk ≤ MCR.GCL.Gc_lrMaxAbsJerk ⁽¹⁾ AND i_lrDeclampJerk ≥ i_lrDeclampAcceleration⁽²⁾ × 10 ⁽³⁾	mm/s³	Specifies the jerk (change of acceleration per time unit) during the declamping movements.
(1) For more information on the value range, refer to the Global Constants List (GCL) of the Multicarrier library. (2) Internally, it is determined which value, i_lrDeclampAcceleration or i_lrDeclampDeceleration, is greater. The greater value is used for this calculation. (3) The value of i_lrDeclampJerk must be at least 10 times as high as the value for i_lrDeclampAcceleration (or i_lrDeclampDeceleration). If this is not the case, it is internally set to a value that is 10 times as high as the value for i_lrDeclampAcceleration (or i_lrDeclampDeceleration).

Outputs

The method has no outputs.