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Globals/Parameters

Parameters

Parameter_Kinematic

Parameter Type Default Description
PathBufferSize DINT 4096 Byte Buffer for AMP Movement Path MC_PATH_DATA_REF
MaxPoints UDINT 10 Maximum amount of Teach-Points for Kinematic Advanced Motion.
DefaultStopDeceleration Lreal 1000 Deceleration in mm/s^2 or deg/s^2 depending on Axis used for default at Stop commands
DefaultStopDecelerationJerk Lreal 10000 Jerk in mm/s^2 or deg/s^2 depending on Axis used for default at Stop commands
CamDefaultMoveVelocity LREAL 100 Default Camming Master Velocity, this Velocity is used in manual mode
CamDefaultMoveAcceleration LREAL 1000 Default Camming Master Acceleration, this Acceleration is used in manual mode
CamDefaultMoveDeceleration LREAL 1000 Default Camming Master Deceleration, this Deceleration is used in manual mode
CamDefaultMoveJerk LREAL 10000 Default Camming Master Jerk, this Jerk is used in manual mode
ExecuteCamPeriodically Bool FALSE Used in Camming FBs to execute created cam table cyclically if set to TRUE
CamMasterAbsolute Bool TRUE Cam Master Position is interpreted absolute
CamSlaveAbsolute Bool TRUE Cam Slave Position is interpreted absolute
CammingFirstPointInTableByUser Bool FALSE First Point in created cam table is defined by user

GVLs

KINEMATIC_CONSTANTS

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{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    DEGREES_OF_FREEDOM_MAX                          : UINT := (TO_UINT(E_KinematicDOF.eKinematicDOF_Max)-1);
END_VAR