IF_MulticarrierConfiguration - SetEmergencyParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

Task

Setting the emergency parameters.

Description

With the method SetEmergencyParameter, the maximum deceleration (change of velocity per time unit) and the maximum absolute jerk (change of deceleration per time unit) are set for emergency stops of the Lexium™ MC multi carrier transport system.

It is not possible to adjust the motion parameters for an active emergency stop. The adjusted values are applied and used for a later emergency stop, if required.

NOTE: The values defined with the method SetEmergencyParameter must be greater than the corresponding values defined with the methods SetMotionParameter or SetMotionParameterJogging.

Inputs

Input	Data type	Value range	Unit	Description
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.

Input

Data type

Value range

Unit

Description

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.