MC_MotionFunctionPoint

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

Name	Type	Description
PointIndex	MC_MotionFunctionPoint_ID	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	MC_MotionFunctionType	Type MC_MotionFunctionType of the mathematical function between this and the subsequent interpolation point.
PointType	MC_MotionPointType	Type MC_MotionPointType of this interpolation point
RelIndexNextPoint	MC_MotionFunctionPoint_ID	Relative reference to the subsequent interpolation point (usually 1). This reference must also be set accordingly for subsequent "MOTIONPOINTTYPE_IGNORE".
MasterPos	LREAL	Position of the master axis at this interpolation point
SlavePos	LREAL	Position of the slave axis at this interpolation point
SlaveVelo	LREAL	Velocity of the slave axis at this interpolation point
SlaveAcc	LREAL	Acceleration of the slave axis at this interpolation point
SlaveJerk	LREAL	Jerk of the slave axis at this interpolation point