This command is used to override the speed and acceleration used by XBots inside a zone.
Fieldbus Interface
PMC_Zone_OverrideZone
Inputs
|
Name
|
Data Type
|
Description
|
|
Execute
|
BOOL
|
Execution of the function block begins on a rising edge of this input. |
|
ZoneID
|
USINT
|
Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone
|
|
OverrideType
|
USINT
|
0: Override with ratio; 1: Override with absolute speed and acceleration limits
|
|
SpeedOverrideFactor
|
REAL
|
multiplicative factor or absolute limit for XBot speed in the zone (0-2 or m/s)
|
|
AccOverrideFactor
|
REAL
|
multiplicative factor or absolute limit for XBot acceleration in the zone (0.001-2 or m/s^2)
|
|
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 Fieldbus Reply Codes. |
Ethernet Interface
PMCRTN OverrideZone(int zoneID, double velocityFactor, double accelFactor, int mode=0)
Parameters
|
Name
|
Type
|
Description
|
|
zoneID
|
int
|
Zone ID, same as Flyway ID by default, you may define your own Zones as well using Define Zone |
|
velocityFactor
|
double
|
Multiplicative factor or absolute limit for xbot speed in the zone (0-2 or m/s)
|
|
accelFactor
|
double
|
Multiplicative factor or absolute limit for xbot acceleration in the zone (0.001-2 or m/s^2)
|
|
mode
|
int
|
0: Override with ratio (default); 1: Override with absolute speed and acceleration limits
|
Returns
|
Name
|
Type
|
Description
|
|
PMCRTN
|
PMCRTN enum
|
ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes. |
Conditions
|
Operating Conditions
|
|
Preconditions
|
None
|
|
Postconditions
|
Speed and Acceleration factors are applied to the zone
|
Description
This command is used to override the speed and acceleration used by XBots inside a zone.
Changelog
PMC v117.10.10 - Added OverrideType: the user can now specify whether to use speed and acceleration override with ratio or absolute values
