Motion_Lib M_Actuation Properties

#Properties

###Dynamics

Acceleration : LREAL

• Get;
• Set;

Deceleration : LREAL

• Get;
• Set;

Jerk : LREAL

• Get;
• Set;

---

###Energise

Enable : BOOL

• Get;
• Set;

Override : LREAL

• Get;
• Set;

---

###Error

Axis_Error : BOOL

• Get;

Axis_Error_Id : UDINT

• Get;

Hardware_Error_Code : UDINT

• Get;

---

###External Set Point

Set_Direction : LREAL

• Set;

Set_Position : LREAL

• Set;

Set_Velocity : LREAL

• Set;

---

###Homing Configuration

Calibrate_At_Limit : BOOL

• Get;
• Set;

Calibrate_To_Negative : BOOL

• Get;
• Set;

---

###Limits

At_Negative_Limit : BOOL

• Get;

At_Positive_Limit : BOOL

• Get;

Disable_Limits : BOOL

• Get;
• Set;

Invert_Limits : BOOL

• Get;
• Set;

---

###Info

Has_Job : BOOL

• Get;

Id : UDINT

• Get;

Is_Moving : BOOL

• Get;

Mode : E_ACUTATIONSTATE : UDINT

• Get;

• Set{

  E_ACUTATIONSTATE.E_MANUAL_ACTUATION to enable manual positioning methods (ie. Jogging).

  E_ACUTATIONSTATE.E_PTP_ACTUATION to enable standard PTP methods.

  E_ACUTATIONSTATE.E_PTP_ACTUATION_EXECUTING is used internally and have no effect here.

  E_ACUTATIONSTATE.E_SETPOINT_ACTUATION to enable external set point methods.

  E_ACUTATIONSTATE.E_SETPOINT_ACTUATION_ACTIVATED is used internally and have no effect here.

  }

Position : LREAL

• Get;

Velocity : LREAL

• Get;

---

###Manual Motion

Jog_Backward : BOOL

• Set;

Jog_Forward : BOOL

• Set;

Jog_Velocity : LREAL

• Get;
• Set;