Output Description

MC_GroupReadActualVelocity

Valid

Data type: BOOL

True if valid outputs are available.

Error

Data type: BOOL

Signals that an error has occurred within the Function Block.

ErrorID

Data type: WORD

Error identification PLCopen.

Velocity

Data type: ARRAY [1..3] OF REAL

Current velocity of the group:

• in ACS the velocities of the different axes,
• in MCS and PCS it provides the velocity of the TCP .

PathVelocity

Data type: REAL

Current path velocity (speed, combined result) of the TCP.