MC_GroupReadActualVelocity – Read actual velocity in the selected coordinate system

Block SymbolLicensing group: COORDINATED MOTION
PIC

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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