Data type MC_MotionFunctionPoint

TYPE MC_MotionFunctionPoint :
STRUCT
   PointIndex          : MC_MotionFunctionPoint_ID;
   FunctionType        : MC_MotionFunctionType;
   PointType           : MC_MotionPointType;
   RelIndexNextPoint   : MC_MotionFunctionPoint_ID;
   MasterPos           : LREAL; (* X *)
   SlavePos            : LREAL; (* Y *)
   SlaveVelo           : LREAL; (* Y' *)
   SlaveAcc            : LREAL; (* Y'' *)
   SlaveJerk           : LREAL; (* Y''' *)
END_STRUCT
END_TYPE
 

The data structure MC_MotionFunctionPoint describes a interpolation point of a motion function. A motion function is a one-dimensional list (array) of type MC_MotionFunctionPoint.

PointIndex: Absolute index of this interpolation point within the motion function. The point index of all interpolation points must increase strictly monotonously and must have no gaps and be greater than 0.

FunctionType: Type MC_MotionFunctionType of the mathematical function between this and the subsequent interpolation point

PointType: Type MC_MotionPointType of this interpolation point.

RelIndexNextPoint: Relative reference to the subsequent interpolation point (usually 1).

MasterPos: Position of the master axis at this interpolation point

SlavePos: Position of the slave axis at this interpolation point

SlaveVelo: Velocity of the slave axis at this interpolation point

SlaveAcc: Acceleration of the slave axis at this interpolation point

SlaveJerk: Jerk of the slave axis at this interpolation point