GearInPosOnTrackWithMasterMover

Initiates a GearInPos movement along a specified trail, in which the master setpoints are provided by another PlanarMover.

Syntax

Definition:

METHOD GearInPosOnTrackWithMasterMover
VAR_INPUT
    commandFeedback         : Reference To  MC_PlanarFeedbackGearInPosOnTrackWithMasterMover;
END_VAR
VAR_IN_OUT
    masterMover             : MC_PlanarMover;
END_VAR
VAR_INPUT
    trackTrail              : Reference To  MC_PlanarTrackTrail;
    masterSyncPosition      : LREAL;
END_VAR
VAR_IN_OUT
    masterSyncPositionTrack : MC_PlanarTrack;
END_VAR
VAR_INPUT
    slaveSyncPosition       : LREAL;
END_VAR
VAR_IN_OUT
    slaveSyncPositionTrack  : MC_PlanarTrack;
END_VAR
VAR_INPUT
    constraint              : Reference To  DynamicConstraint_PathXY;
    options                 : Reference To  ST_GearInPosOnTrackWithMasterMoverOptions;
END_VAR

Inputs

Name	Type	Description
commandFeedback	Reference To MC_PlanarFeedbackGearInPosOnTrackWithMasterMover	The command specific feedback object for the command.
trackTrail	Reference To MC_PlanarTrackTrail	Track trail determining along which tracks the GearInPos movement is allowed to proceed.
masterSyncPosition	LREAL	Position of the master axis at which the slave is inSync.
slaveSyncPosition	LREAL	Arc length on track given by slaveSyncPositionTrackOID at which the slave is inSync. Possibly interpreted in modulo fashion, depending on options.
constraint	Reference To DynamicConstraint_PathXY	Constraint on maximal dynamics during the movement (V,A,D,J).
options	Reference To ST_GearInPosOnTrackWithMasterMoverOptions	Options for the movement.

In/Outputs

Name	Type	Description
masterMover	MC_PlanarMover	Master mover being followed.
masterSyncPositionTrack	MC_PlanarTrack	Track on which the master is inSync.
slaveSyncPositionTrack	MC_PlanarTrack	Track on which the slave is inSync.