With the method GetMotionParameter, you can read 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 motion of the carrier is executed.
See also SetMotionParameter.
Output |
Data type |
Unit |
Description |
---|---|---|---|
q_lrMaxVelocity |
LREAL |
mm/s |
Indicates the specified maximum velocity (change of position per time unit). |
q_lrMaxAcceleration |
LREAL |
mm/s2 |
Indicates the specified maximum acceleration (change of velocity per time unit). |
q_lrMaxDeceleration |
LREAL |
mm/s2 |
Indicates the specified maximum deceleration (change of velocity per time unit). |
q_lrMaxAbsJerk |
LREAL |
mm/s3 |
Indicates the specified maximum jerk (change of acceleration per time unit). |
q_xError |
BOOL |
– |
Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg. |
q_etResult |
– |
Provides diagnostic and status information as a numeric value. |
|
q_sResultMsg |
STRING [255] |
– |
Provides additional diagnostic and status information as a text message. |