SetGroupMotionProfileOverride

Sets the override values for an axis group, and all functions that are working on that group. The override parameters contribute as a factor to the calculation of the commanded velocity, acceleration, and jerk of the motion.

Syntax

KsError SetGroupMotionProfileOverride(
     int Index,
     double VelocityFactor,
     double AccelerationFactor,
     double JerkFactor
);

Parameters

Index [in]: the index of an axis group. Indexes are zero based. You can have up to 32 groups.

VelocityFactor [in]: the new override factor for the velocity.

AccelerationFactor [in]: the new override factor for the acceleration or deceleration.

JerkFactor [in]: the new override factor for the jerk.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Remarks

It changes the velocity, acceleration and jerk without changing their original values. This function takes effect immediately after it is sent. If it is used while the axis group is in motion, the current motion will be changed. To avoid the unexpected result, we suggest using it in the Standstill state.
The input AccelerationFactor acts on positive and negative acceleration (deceleration).
This function sets the factor. The override factor is valid until a new override is set.
The default values of the override factor are 1.0.
The value of the overrides can be between 0.0 and 1.0. The behavior of values > 1.0 is vendor specific. Values < 0.0 are not allowed. The value 0.0 is not allowed for AccelerationFactor and JerkFactor.
The value 0.0 set to the VelocityFactor stops the axis group without bringing it to the state Standstill.
Override doesn't act on slave axes (axes in the state Synchronized Motion).
The function doesn't influence the state diagram of the axis group.
VelocityFactor can be changed at any time and acts directly on the ongoing motion.
If in "Discrete Motion," reducing the AccelerationFactor and/or JerkFactor can lead to a position overshoot – a possible cause of damage.

Example

N/A

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib