This command can adjust the jerk limit used by all motion commands except streaming and trajectory. X & Y axis share the same jerk limit. Editing the jerk limit of one of these axes will also update the jerk limit for the other.
Fieldbus Interface PMC_SetJerkLimit
Inputs
Name
Data Type
Description
Execute
BOOL
Execution of the function block begins on a rising edge of this input.
XbotID
USINT
ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
AxisID
USINT
Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
JerkLimit
REAL
Jerk limit (m/s^3 or rad/s^3)
PM_Controller
PMControllerType
Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.
Outputs
Name
Data Type
Description
Done
BOOL
Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy
BOOL
Function block is active and must continue to be called.
Aborted
BOOL
Command aborted by another command.
Error
BOOL
If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID
UINT
0x0: All OK. Otherwise, please see PMC Reply Codes .
Ethernet Interface PMCRTN SetJerkLimit(int xbotID, JERKLIMAXIS axis, double jerkLim)
Parameters
Name
Type
Description
xbotID
int
ID of the XBot. 0 = All XBots. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
axis
enum
Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
jerkLim
double
Jerk limit (m/s^3 or rad/s^3)
Returns
Name
Type
Description
PMCRTN
PMCRTN enum
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes .
Conditions Operating Conditions
Preconditions
None
Postconditions
New XBot motion jerk limit will be used in future commands
Description This command can adjust the jerk limit used by all motion commands except streaming and trajectory.
X & Y axis share the same jerk limit. Editing the jerk limit of one of these axes will also update the jerk limit for the other.
