MC_PATH_DATA_REF

MC_PATH_DATA_REF represents the path to be executed by MC_MovePath, where the number of entries is limited to 30. The path to be executed is written by MC_MoveLinearAbsolutePreparation, MC_MoveCircularAbsolutePreparation and MC_BlockerPreparation. It is initialized with a pointer to a user-defined buffer. Here the user can define the size of the path. The initialization must be done during the declaration. The path table is not reset during execution. To reset, the method ClearPath must be called.

VAR_OUTPUT

VAR_OUTPUT
    FilledRows            : UDINT;
    OccupiedBuffer        : UDINT;
END_VAR

Example

The example below shows how to declare a path reference and how to reset an existing path.

VAR
    buffer          : ARRAY[1..4096] OF BYTE;
    Path            : MC_PATH_DATA_REF(ADR(buffer), SIZEOF(buffer));
END_VAR

//delete all segments of path table
Path.ClearPath();

The data type MC_PATH_DATA_REF is part of the Motion Control (MC) library. Use the ClearPath() method to clear path information of type MC_PATH_DATA_REF to reset an existing path. For the data type MC_PATH_DATA_REF use only Motion Control functions or Motion Control function blocks. In particular, do not use memory functions such as MEMCMP, MEMCPY, MEMSET or MEMMOVE for the data type MC_PATH_DATA_REF.