FB_ClampingStation - SetClampMotionParameter (Method)
Description
With the method SetClampMotionParameter, you can set specific motion parameters for clamping movements. When the method has been called with a clamp velocity greater than 0.0, the clamping movements in the process are executed with the motion parameters defined by the method.
The return value SetClampMotionParameter of type BOOL indicates TRUE if the motion parameters have been set successfully.
Inputs
|
Input |
Data type |
Value range |
Unit |
Description |
|---|---|---|---|---|
|
i_lrClampVelocity |
LREAL |
MCR.GCL.Gc_lrMinVelocity ≤ |
mm/s |
Specifies the velocity (change of position per time unit) during the clamping movements. If i_lrClampVelocity = 0.0, the motion parameters that are used for the movement of the carriers arriving at the clamping station are also used during the clamping process. |
|
i_lrClampAcceleration |
LREAL |
MCR.GCL.Gc_lrMinAcceleration ≤ |
mm/s2 |
Specifies the acceleration (change of velocity per time unit) during the clamping movements. |
|
i_lrClampDeceleration |
LREAL |
MCR.GCL.Gc_lrMinDeceleration ≤ |
mm/s2 |
Specifies the deceleration (change of velocity per time unit) during the clamping movements. |
|
i_lrClampJerk |
LREAL |
MCR.GCL.Gc_lrMinAbsJerk ≤ AND
i_lrClampJerk ≥ |
mm/s3 |
Specifies the jerk (change of acceleration per time unit) during the clamping 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_lrClampAcceleration or i_lrClampDeceleration, is greater. The greater value is used for this calculation. (3) The value of i_lrClampJerk must be at least 10 times as high as the value for i_lrClampAcceleration (or i_lrClampDeceleration). If this is not the case, it is internally set to a value that is 10 times as high as the value for i_lrClampAcceleration (or i_lrClampDeceleration). |
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