RM_GroupTrack

RM_GroupTrack – T

racking position/velocity

Block SymbolLicensing group: COORDINATED MOTION

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

Inputs

uAxesGroup	Axes group reference	Reference
posvel	Vector of desired position or velocity	Reference
TRACKP	Position tracking	Bool
TRACKV	Velocity tracking	Bool

Parameters

Velocity	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{2}$ ]	Double (F64)
CoordSystem	Reference to the coordinate system used $⊙$ 2	Long (I32)
	1 .... ACS 2 .... MCS 3 .... PCS
iLen	Number of samples to estimate the velocity / acceleration $↓$ -1 $↑$ 99	Long (I32)

Outputs

yAxesGroup	Axes group reference	Reference
InTrack	Position / velocity track flag	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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