MC_GroupSetOverride

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion

This function block MC_GroupSetOverride changes the override of a group. A change is made with a certain delay. An override input value is valid between 0 [0%] and 1 [100%]. If the value is set outside this range, it is automatically set to the respective limit value.

	The behavior for override modifications in relation to the MC group can be defined as an axis group parameter, see Time Override Ramp Time.

VAR_INPUT

VAR_INPUT
    Enable               : BOOL;
    VelFactor            : MC_LREAL := 1.0;
END_VAR

Name	Type	Description
Enable	BOOL	The command is executed as long as Enable is active.
VelFactor	MC_LREAL	The override is set to this value (value range between 0 [0 %] and 1 [100 %]).

VAR_IN_OUT

VAR_IN_OUT
   AxesGroup             : AXES_GROUP_REF; 
END_VAR

Name	Type	Description
AxesGroup	AXES_GROUP_REF	Reference to a group of axes (see Cyclic group interface).

VAR_OUTPUT

VAR_OUTPUT
    Enabled              : BOOL;
    Busy                 : BOOL;
    Error                : BOOL;
    ErrorId              : UDINT;
    ActualVelFactor      : UDINT;
END_VAR

Name	Type	Description
Enabled	BOOL	This output signals that the `VelFactor` has been set successfully. The `VelFactor` shows the type of an override factor.
Busy	BOOL	This output becomes `TRUE` when the command is started with `Enable` and remains so as long as the function block executes the command.
Error	BOOL	This output becomes `TRUE` if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).
ActualVelFactor	UDINT	Override that is currently active in the group (value range between 0 [0 %] and 1 [100 %]).

Sample

VAR
    stGroupRef            : AXES_GROUP_REF;
    fbSetOverride         : MC_GroupSetOverride;
END_VAR

fbSetOverride(
    AxesGroup:=stGroupRef , 
    Enable:= TRUE , 
    VelFactor:=1.0 , (* 1.0 = 100% *)
);

Requirements

Development environment	Target system type	PLC libraries to be linked
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x86 or x64)	Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target system type

PLC libraries to be linked

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x86 or x64)

Tc3_McCoordinatedMotion, Tc2_MC2