IF_Motion - SetVelocityLimitation (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

Task

Setting a limited velocity between a defined start position and a defined end position.

Description

The method SetVelocityLimitation works in combination with the move command MoveGapControl. When a carrier is sent to a target via a MoveGapControl command, you can set a limited velocity for a section that is defined by a start position and an end position. The carrier is decelerating before the start position and accelerating after the end position of the velocity limitation section.

NOTE: The command MoveGapControl considers only one velocity limitation section. For another velocity limitation section, the command MoveGapControl must be called again.

For a visual illustration of the velocity limitation option, refer to the velocity limitation video sequence.

Inputs

Input	Data type	Value range	Unit	Description
i_ lrVelocity	LREAL	0.0 ≤ i_ lrVelocity ≤ i_lrMaxVelocity	mm/s	Specifies the velocity of a carrier at i_lrStartPosition. For more information on the parameter i_lrMaxVelocity, refer to the method SetMotionParameter.
i_lrStartPosition	LREAL	0.0 ≤ i_ lrStartPosition ≤ lrTrackLength⁽¹⁾	mm	Specifies the start position that the carrier must have before velocity limitation.
i_lrEndPosition	LREAL	0.0 ≤ i_ lrEndPosition ≤ lrTrackLength⁽¹⁾	mm	Specifies the end position that the carrier must have after velocity limitation.
i_lrGap	LREAL	0.0 ≤ i_lrGap ≤ lrTrackLength⁽¹⁾	mm	Specifies the gap of the selected carrier to a carrier in front and/or a carrier behind for a section of the track with velocity limitation. If the value for the parameter i_lrGap is lower than the minimum gap defined by the parameter SetRefMinGapToCarrierInFront and/or SetRefMinGapToCarrierBehind, the gap i_lrGap is internally set to this minimum gap.
(1) For more information on the track length, refer to lrTrackLength.

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.