MCV_GrpReadMotionState
This function block supplies the current motion states of an axis group.
It is assigned to the group of administrative function blocks.
Block diagram
FB parameters
VAR_IN_OUT | |||
Variable name | Data type | Description | |
AxesGroup | AXES_GROUP_REF | Axis group reference | |
VAR_INPUT | |||
Variable name | Data type | Description | |
Enable | BOOL | If the value is TRUE, the output data of the axes group is displayed continuously. | |
VAR_OUTPUT | |||
Variable name | Data type | Description | |
Valid | BOOL | Is TRUE if valid values are available. | |
Busy | BOOL | TRUE indicates that the FB is executing a job. | |
Error | BOOL | Indicates whether an error occurred in the FB. | |
ErrorID | WORD | Error identifier | |
InterpolationActive | BOOL | Is TRUE if the interpolator is active. | |
DwellTimeActive | BOOL | Is TRUE if the function waits due to a dwell time. | |
KinTrafoActive | BOOL | Is TRUE if a kinematic transformation is active. | |
KinTrafoID | UINT | If the output KinTrafoActive is TRUE, then this is the identifier of the currently active kinematic transformation. The identifier corresponds to the numbers in the description [KITRA/Classification/kinematic types] | |
CommandVelocity | LREAL | Programmed velocity | |
ActualVelocity | LREAL | Current velocity | |
Behaviour of the FB:
- The axis group data is updated cyclically as long as the input “Enable” has the value TRUE.
- If an axis group is operated with kinematic transformation (typical with Cartesian programming of the TCP of a robot kinematic), the outputs "CommandVelocity" and "ActualVelocity" must be linked to the output "KinTrafoActive", because, if kinematic transformation is deselected, the velocity outputs do not show the real behaviour of the TCP. This linking of outputs is not required with Cartesian machines.