User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
238 Manual, 03/2014, A5E02486774-AF
Table 10- 28 Parameters for the MC_ChangeDynamic instruction
Parameter and type
Data type
Description
Axis
IN
TO_Axis_1
Axis technology object
Execute IN Bool Start of the command with a positive edge. Default value:
FALSE
ChangeRampUp IN Bool TRUE = Change ramp-up time in line with input parameter
"RampUpTime". Default value: FALSE
RampUpTime IN Real Time (in seconds) to accelerate from standstill to the configured
maximum velocity without jerk limit. Default value: 5.00
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Acceleration. The effectiveness of the
change is shown in the description of this tag.
ChangeRampDown IN Bool TRUE = Change ramp-down time in line with input parameter
"RampDownTime". Default value: FALSE
RampDownTime IN Real Time (in seconds) to decelerate axis from the configured
maximum velocity to standstill without jerk limiter. Default value:
5.00
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Deceleration. The effectiveness of the
change is shown in the description of this tag.
ChangeEmergency IN Bool TRUE = Change emergency stop ramp-down time in line with
input parameter "EmergencyRampTime" Default value: FALSE
EmergencyRampTime IN Real Time (in seconds) to decelerate the axis from configured
maximum velocity to standstill without jerk limiter in emergency
stop mode. Default value: 2.00
The change will influence the tag <Axis name>.
Config.DynamicDefaults.EmergencyDeceleration. The
effectiveness of the change is shown in the description of this
tag.
ChangeJerkTime IN Bool TRUE = Change smoothing time according to the input
parameter "JerkTime". Default value: FALSE
JerkTime IN Real Smoothing time (in seconds) used for the axis acceleration and
deceleration ramps. Default value: 0.25
The change will influence the tag <Axis name>.
Config.Dynamic
Defaults.Jerk. The effectiveness of the change is
shown in the description of this tag.
Done OUT Bool TRUE = The changed values have been written to the
technology data block. The description of the tags will show
when the change becomes effective. Default value: FALSE
Error OUT Bool TRUE = An error occurred during execution of the command.
The cause of the error can be found in parameters "ErrorID" and
"ErrorInfo". Default value: FALSE
ErrorID
OUT
Word
Error identifier. Default value: 16#0000
ErrorInfo IN Word Error information. Default value: 16#0000
Prerequisites for MC_ ChangeDynamic execution:
● The technology object TO_Axis_PTO V2.0 must be correctly configured.
● The axis must be released.