SetLimit

Sets limits for a specific coordinate. If the coordinate is already limited, existing limits are overwritten.

Syntax

Definition:

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

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.