SetExternalSetpointReferenceId

Sets the external setpoint for the Planar Mover with corresponding reference system id. Call once per PLC cycle during external setpoint generation.

Syntax

Definition:

METHOD SetExternalSetpointReferenceId
VAR_INPUT
    commandFeedback    : Reference To  MC_PlanarFeedback;
    setPosition        : MoverVector;
    setVelocity        : MoverVector;
    setAcceleration    : MoverVector;
    referenceSystemOid : OTCID;
END_VAR

Inputs

Name	Type	Description
commandFeedback	Reference To MC_PlanarFeedback	The feedback object for the command.
setPosition	MoverVector	Position that is sent to the Planar Mover.
setVelocity	MoverVector	Velocity that is sent to the Planar Mover.
setAcceleration	MoverVector	Acceleration that is sent to the Planar Mover.
referenceSystemOid	OTCID	Part or coordinate system id.