GetMinimumConstantSpeed: Achieving Minimum Possible Constant Speed (ACTION

At a Glance

Having uploaded the trajectory to the module, the module has calculated the various cam profiles (which associate real slave axes with the master axis) for each axis.

You may now proceed to work on the movement and its trajectory by obtaining various different items of information.

The GetMinimumConstantSpeed function can be used to obtain the minimum speed permitted across all segments of the trajectory.

Function Syntax

The GetMinimumConstantSpeed function is executed:

On a slave axis group type channel (channels 21 to 24)
With the following parameter settings:
- %MWr.m.c.10 (ACTION_TRF) = 14905
- %MDr.m.c.11 (param_trf_1) = 0,
- %MDr.m.c.13 (param_trf_2) = 0,
- %MDr.m.c.15 (param_trf_3) = 0,
- %MDr.m.c.17 (param_trf_4) = 0,
- %MDr.m.c.6 (return_trf_2) = Contains the required speed
Plus the TRF_RECIPE function, the parameters of which are not used

Function call syntax:

TRF_RECIPE %CHr.m.c (0, 0)

Error Codes

When this type of function is used, the error codes that can be returned in word %MWr.m.c.3 are as follows:

Code	Description
1	Incorrect group number
3	The function was executed before the trajectory was calculated.