AddLimit

AddLimit 1:

Adds limits for a specific coordinate. If the coordinate is already limited, limits are merged.

Syntax

Definition:

METHOD AddLimit
VAR_INPUT
    Coordinate : CoordinateType;
    V          : MC_LREAL;
    A          : MC_LREAL;
    D          : MC_LREAL;
    J          : MC_LREAL;
END_VAR

AddLimit 2: Inputs

Name

Type

Description

Coordinate

CoordinateType

Coordinate type. E.g. Coord_Mcs_X, Coord_Mcs_Y, ...

V

MC_LREAL

Maximum velocity.

A

MC_LREAL

Maximum acceleration.

D

MC_LREAL

Maximum deceleration.

J

MC_LREAL

Maximum jerk.