1. TwinCAT PLC Lib: TcNc
2. Data types
3. E_CmdTypeNewTargPosAndVelo

E_CmdTypeNewTargPosAndVelo

TYPE E_CmdTypeNewTargPosAndVelo :(
    CHANGE_POS                       := 1,
    CHANGE_VELO ,
    CHANGE_POSANDVELO ,
    CHANGE_POS_AT_SWITCHPOS          := 9,
    CHANGE_VELO_AT_SWITCHPOS ,
    CHANGE_POSANDVELO_AT_SWITCHPOS , 
    REACH_VELO_AT_POS                := 14
);
END_TYPE

This data type is required in conjunction with the MC_NewPosAndVelo function, which can be used for changing the target position and the velocity of an axis in motion. This type defines the mode for this function:

CHANGE_POS: The target position is changed instantaneously, i.e. the axis immediately aims for the new target.

CHANGE_VELO: The velocity of the axis is changed instantaneously.

CHANGE_POSANDVELO: Both parameters, i.e. target position and velocity, are changed instantaneously.

CHANGE_POS_AT_SWITCHPOS: The target position is changed when a switching position is reached.

CHANGE_VELO_AT_SWITCHPOS: The velocity is changed when a switching position is reached.

CHANGE_POSANDVELO_AT_SWITCHPOS: Both parameters, i.e. target position and velocity, are changed when a switching position is reached.

REACH_VELO_AT_POS : The velocity is changed such that the new velocity is reached at the switching position. This mode is only available in conjunction with the optimised set value generator for an axis (see global axis parameters from TwinCAT 2.10 Build 1052).

Requirements