MC_GroupReadActualVelocity – Read actual velocity in the selected coordinate system

Block SymbolLicensing group: COORDINATED MOTION

Function Description

The function block MC_GroupReadActualVelocity returns the actual velocity in the selected coordinate system of an axes group. The position is valid only if the output Valid is true which is achieved by setting the input Enable on true.

Inputs

uAxesGroup	Axes group reference	Reference
Enable	Block function is enabled	Bool
CoordSystem	Reference to the coordinate system used	Long (I32)
	1 .... ACS 2 .... MCS 3 .... PCS

Outputs

yAxesGroup	Axes group reference	Reference
Valid	Output value is valid	Bool
Busy	Algorithm not finished yet	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error
Velocity	xxx	Reference

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