IF_VelRatio - General Information
|
Type: |
Interface |
|
Available as of: |
V1.0.0.0 |
|
Inherits from: |
- |
|
Versions: |
Current version |
Interface for accessing the values and functions of the feed forward motion of the FB_Infeed POU
The feed forward motion is implemented as CAM curve of type Straight. The velocity factor with which the belt follows the master can be changed.
NOTE: Performance is limited by program cycle time (transferring commands to the axes).
NOTE: Using this interface to stop the motion and simultaneously commanding a correction motion leads to an inoperable system (no motion at all).
To avoid such scenario, perform these actions only one at a time.
|
Name |
Description |
|---|---|
|
The factor of the feed forward motion of a belt is to be changed. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
lrAcc |
LREAL |
Read/Write |
The maximum acceleration of the belt at a change of the velocity factor |
|
lrDec |
LREAL |
Read/Write |
The maximum deceleration of the belt at a change of the verlocity factor |
|
lrMinXFactor |
LREAL |
Read/Write |
The change of the velocity factor usually is calculated such that the change is completed in the shortest possible time. However, to prevent motions with extremely high jerk values, a minimum value can be set for the path that the cam master travels during the change of the velocity factor (x-factor of the transfer curve) using this parameter. |
|
raxReadyForMotionCommand |
REFERENCE TO ARRAY[1..Gc_udiMaxNumberOfBelts] OF BOOL |
Read |
Element TRUE: The belt is ready to change the velocity factor. |
