Standard Stations - SetMotionParameter (Method)

Overview

Type:

Method

Available as of:

V1.0.0.0

Task

Setting the motion parameters.

Description

With the method SetMotionParameter, 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 motion of the carrier must be executed.

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: Before executing the method CyclicMotionCall, the method SetMotionParameter must be called at least once.
For more information on the CyclicMotionCall methods, refer to FB_ClampingStation, FB_DeclampingStation and FB_GroupingStation.

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

Inputs

Input

Data type

Value range

Unit

Description

i_lrMaxVelocity

LREAL

MCR.GCL.Gc_lrMinVelocity ≤
i_lrMaxVelocity ≤
MCR.GCL.Gc_lrMaxVelocity (1)

mm/s

Specifies the maximum velocity (change of position per time unit).

i_lrMaxAcceleration

LREAL

MCR.GCL.Gc_lrMinAcceleration ≤
i_lrMaxAcceleration ≤
MCR.GCL.Gc_lrMaxAcceleration (1)

mm/s2

Specifies the maximum acceleration (change of velocity per time unit).

i_lrMaxDeceleration

LREAL

MCR.GCL.Gc_lrMinDeceleration ≤
i_lrMaxDeceleration ≤
MCR.GCL.Gc_lrMaxDeceleration (1)

mm/s2

Specifies the maximum deceleration (change of velocity per time unit).

i_lrMaxAbsJerk

LREAL

MCR.GCL.Gc_lrMinAbsJerk ≤
i_ lrMaxAbsJerk ≤
MCR.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) of the Multicarrier library.

(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

The method has no outputs