This function is used to check if mva_follow2_m() can be executed with the specified data. The function if results in failure, returns an error code; otherwise, if ok, it can also return the maximum synchronism duration time.
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i32 check_mva_follow2 (stru_follow2_sm stru, real masterSpe, real syncTime)
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Structure of type stru_follow2_sm containing motion-related parameters
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Speed of the master at steady state
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Variable in which the maximum sync duration will be written
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Returns:
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-5
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Invalid axis number
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-1
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masterSpe <= 0
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0
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Operation performed successfully. You can execute mva_follow2_m(), in syncTime you can read the maximum sync duration
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1
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Maximum acceleration of the slave <= 0
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2
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Start space (sync position / park position) or braking space are <= 0
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3
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kSlaveMaster <= 0
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4
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Rotary slave -> insufficient start master space + braking space
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5
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Rotary slave -> master space available to the slave to reach the next synchronism is insufficient
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Linear slave -> the master space available to the slave to go back is insufficient
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6
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masterCycle <= 0
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21
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The slave exceeds the maximum speed while moving from the parking position to the synchronous position
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22
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The slave exceeds the maximum acceleration while moving from the parking position to the synchronism position
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31
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Linear slave -> slave exceeds maximum speed while braking after synchronism
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32
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Linear slave -> the slave exceeds maximum acceleration while braking after synchronism
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41
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Linear slave -> the slave exceeds the maximum speed while returning to the initial position
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42
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Linear slave -> the slave exceeds the maximum acceleration while returning to the initial position
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51
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Rotary slave -> the slave exceeds the maximum speed while moving to the parking position after synchronism
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52
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Rotary slave -> the slave exceeds maximum acceleration while moving to the parking position after synchronism
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61
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Rotary slave -> slave exceeds maximum speed while moving from the current synchronism position to the next, slave stops to wait for the required master space
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62
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Rotary slave -> slave exceeds maximum acceleration while moving from the current synchronism position to the next, slave stops to wait for the necessary master space
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71
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Rotary slave -> slave exceeds maximum speed as it moves from the current synchronization position to the next
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72
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Rotary slave -> slave exceeds maximum acceleration while moving from the current synchronism position to the next
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Rule, Task
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