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 (interpreted as [mm]) at which the slave is inSync.
slaveSyncPosition	LREAL	Arc length on track [mm] 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.