OnCyclicSetpointGeneration

Called every cycle to compute the next setpoint values for position, velocity, and acceleration.

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	Unique identifier, the interpretation is user specific.
TimeInGeneration	LREAL	Elapsed time since the start of setpoint generation (input from PLC side of view).
Position	Reference To LREAL	Reference to receive the computed position setpoint. Value must be set during method call (output from PLC side of view).
Velocity	Reference To LREAL	Reference to receive the computed velocity setpoint. Value must be set during method call (output from PLC side of view).
Acceleration	Reference To LREAL	Reference to receive the computed acceleration setpoint. Value must be set during method call (output from PLC side of view).

Return value

HRESULT