MC_PATH_DATA_REF

MC_PATH_DATA_REF represents the path to be executed by MC_MovePath. The path to be executed is written by MC_MoveLinearAbsolutePreparation, MC_MoveCircularAbsolutePreparation, and other preparation blocks. It is initialized with a pointer to a user-defined buffer. Here, the user can define the size of the path. Initialization must occur during declaration. The path table is not reset during execution. To reset it, the ClearPath method must be called.

Outputs

VAR_OUTPUT
    FilledRows            : UDINT;
    OccupiedBuffer        : UDINT;
END_VAR

Sample

The sample 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 method ClearPath() to clear path information of type MC_PATH_DATA_REF and thus to reset an existing path. Use only Motion Control functions or Motion Control function blocks on the data type MC_PATH_DATA_REF. In particular, do not use any storage functions such as MEMCMP, MEMCPY, MEMSET or MEMMOVE with data type MC_PATH_DATA_REF.