OnCyclicSetpointGeneration
Called every MC cycle to compute the next setpoint values. Must be overridden.
Syntax
Definition:
METHOD OnCyclicSetpointGeneration : HRESULT
VAR_INPUT
InvokeId : XWORD;
TimeInGeneration : LREAL;
Position : Reference To LREAL;
Velocity : Reference To LREAL;
Acceleration : Reference To LREAL;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
InvokeId |
XWORD |
|
|
TimeInGeneration |
LREAL |
|
|
Position |
Reference To LREAL |
|
|
Velocity |
Reference To LREAL |
|
|
Acceleration |
Reference To LREAL |
|
Return value
HRESULT