IF_Motion - SetMotionParameterSuperimposedChannelC (Method)

Overview

Type:	Method
Available as of:	V1.1.9.0

Task

Setting the motion parameters for the superimposed motion on channel C.

Description

With the method SetMotionParameterSuperimposedChannelC, you can specify the maximum velocity (change of position per time unit), the maximum acceleration/deceleration (change of velocity per time unit), and the maximum jerk (change of acceleration per time unit) with which the superimposed motion of the carrier must be executed.

For more information on superimposed motions, refer to IF_MoveSyncFromStandstillSuperimposedChannelC.

NOTE: Modified motion values are not considered for the running move command but for the next move command.

NOTE: If one or more of the motion parameters are not within the valid value range, a diagnostic message is generated and the modified motion values are not considered for the next move command. The next move command uses the last valid set of motion parameters.

NOTE: The values defined with the method SetMotionParameterSuperimposedChannelC must be smaller than the corresponding values defined with the method SetEmergencyParameter.

NOTE: The motion values defined with the methods SetMotionParameterSuperimposedChannelC and SetMotionParameter are added. The sum of motion values could exceed the maximum values allowed and the mechanical limits of a carrier. Take this into account during path planning.

WARNING
	Unintended Equipment Operation Define the motion values to avoid exceeding the mechanical limits of the carrier. Failure to follow these instructions can result in death, serious injury, or equipment damage.

Inputs

Input	Data type	Value range	Unit	Description
i_lrMaxVelocity	LREAL	GCL.Gc_lrMinVelocity ≤ i_lrMaxVelocity ≤ GCL.Gc_lrMaxVelocity ⁽¹⁾	mm/s	Specifies the maximum velocity (change of position per time unit).
i_lrMaxAcceleration	LREAL	GCL.Gc_lrMinAcceleration ≤ i_lrMaxAcceleration ≤ GCL.Gc_lrMaxAcceleration ⁽¹⁾	mm/s²	Specifies the maximum acceleration (change of velocity per time unit).
i_lrMaxDeceleration	LREAL	GCL.Gc_lrMinDeceleration ≤ i_lrMaxDeceleration ≤ GCL.Gc_lrMaxDeceleration ⁽¹⁾	mm/s²	Specifies the maximum deceleration (change of velocity per time unit).
i_lrMaxAbsJerk	LREAL	GCL.Gc_lrMinAbsJerk ≤ i_ lrMaxAbsJerk ≤ GCL.Gc_lrMaxAbsJerk ⁽¹⁾ AND i_ lrMaxAbsJerk ≥ i_lrMaxAcceleration ⁽²⁾ × 10 ⁽³⁾	mm/s³	Specifies the maximum jerk (change of acceleration per time unit).
(1) For more information on the value range, refer to the Global Constants List (GCL). (2) Internally, it is determined which value, i_lrMaxAcceleration or i_lrMaxDeceleration, is greater. The greater value is used for this calculation. (3) The value of i_ lrMaxAbsJerk must be greater than or equal to 10 times the value of i_lrMaxAcceleration (or i_lrMaxDeceleration, whichever of the two is greater). If this is not the case, it is internally set to a value that is 10 times the value of i_lrMaxAcceleration or i_lrMaxDeceleration.

Outputs

Output	Data type	Description
q_xError	BOOL	Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING [255]	Provides additional diagnostic and status information as a text message.