LeaveTrack

Initiates a direct movement to the specified position. At the beginning of the movement the track is left.

Syntax

Definition:

METHOD LeaveTrack
VAR_INPUT
    commandFeedback : Reference To  MC_PlanarFeedback;
END_VAR
VAR_IN_OUT
    targetPosition  : PositionXYC;
END_VAR
VAR_INPUT
    constraint      : Reference To  IPlcDynamicConstraint;
    options         : Reference To  ST_LeaveTrackOptions;
END_VAR

Inputs

Name	Type	Description
commandFeedback	Reference To MC_PlanarFeedback	The feedback object for the command.
constraint	Reference To IPlcDynamicConstraint	Dynamic constraints for this movement.
options	Reference To ST_LeaveTrackOptions	Options for the movement.

In/Outputs

Name	Type	Description
targetPosition	PositionXYC	Target position for the movement.