DynamicConstraint_Coordinates
Dynamic constraints for individual coordinates.
Do not call the main FB directly. Only use the available methods.
Methods
|
Name |
Description |
|---|---|
|
Adds limits for a specific coordinate. If the coordinate is already limited, limits are merged. | |
|
Sets limits for a specific coordinate. If the coordinate is already limited, existing limits are overwritten. | |
|
Removes limits for a specific coordinate. | |
|
Removes limits for all coordinates. | |
|
Gets the contained velocity limit for a specific coordinate. If no limits for the coordinate are set, returns MC_INVALID. | |
|
Gets the contained acceleration limit for a specific coordinate. If no limits for the coordinate are set, returns MC_INVALID. | |
|
Gets the contained deceleration limit for a specific coordinate. If no limits for the coordinate are set, returns MC_INVALID. | |
|
Gets the contained jerk limit for a specific coordinate. If no limits for the coordinate are set, returns MC_INVALID. |
Further information
The DynamicConstraint_Coordinates function block constrains the dynamic values of individual coordinates, for example Coord_Mcs_X. Velocity (V), acceleration (A), deceleration (D) and jerk (J) can be limited for each coordinate.
Required License
TC3 Physics Base
System Requirements
Development environment | Target system type | PLC libraries to include |
|---|---|---|
TwinCAT V3.1.4024.12 Advanced Motion Pack V3.1.10.30 | PC or CX (x64) | Tc3_Physics |