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 |