GearInPosOnTrack
Initiates a GearInPos movement along a specified trail.
Syntax
Definition:
METHOD GearInPosOnTrack
VAR_INPUT
commandFeedback : Reference To MC_PlanarFeedbackGearInPosOnTrack;
masterAxis : OTCID;
trackTrail : Reference To MC_PlanarTrackTrail;
masterSyncPosition : LREAL;
slaveSyncPosition : LREAL;
END_VAR
VAR_IN_OUT
slaveSyncPositionTrack : MC_PlanarTrack;
END_VAR
VAR_INPUT
constraint : Reference To DynamicConstraint_PathXY;
options : Reference To ST_GearInPosOnTrackOptions;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
commandFeedback |
Reference To MC_PlanarFeedbackGearInPosOnTrack |
The command specific feedback object for the command. |
|
masterAxis |
OTCID |
Master axis being followed. |
|
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 (interpreted as [mm]) at which the slave is inSync. |
|
slaveSyncPosition |
LREAL |
Arc length [mm] 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_GearInPosOnTrackOptions |
Options for the movement. |
In/Outputs
|
Name |
Type |
Description |
|---|---|---|
|
slaveSyncPositionTrack |
MC_PlanarTrack |
Track on which the slave is inSync. |