GearInPosOnTrack

Initiates a GearInPos movement along a specified trail.

Syntax

Definition:

METHOD GearInPosOnTrack
VAR_INPUT
    commandFeedback        : Reference To  MC_PlanarFeedbackGearInPosOnTrack;
    masterAxis             : OTCID;
    trackTrail             : Reference To  MC_PlanarTrackTrail;
    masterSyncPosition     : LREAL;
    slaveSyncPosition      : LREAL;
END_VAR
VAR_IN_OUT
    slaveSyncPositionTrack : MC_PlanarTrack;
END_VAR
VAR_INPUT
    constraint             : Reference To  DynamicConstraint_PathXY;
    options                : Reference To  ST_GearInPosOnTrackOptions;
END_VAR

Inputs

Name	Type	Description
commandFeedback	Reference To MC_PlanarFeedbackGearInPosOnTrack	The command specific feedback object for the command.
masterAxis	OTCID	Master axis being followed.
trackTrail	Reference To MC_PlanarTrackTrail	Track trail determining along which tracks the GearInPos movement is allowed to proceed.
masterSyncPosition	LREAL	Position of the master axis (interpreted as [mm]) at which the slave is inSync.
slaveSyncPosition	LREAL	Arc length [mm] on track given by slaveSyncPositionTrackOID at which the slave is inSync. Possibly interpreted in modulo fashion, depending on options.
constraint	Reference To DynamicConstraint_PathXY	Constraint on maximal dynamics during the movement (V,A,D,J).
options	Reference To ST_GearInPosOnTrackOptions	Options for the movement.

In/Outputs

Name	Type	Description
slaveSyncPositionTrack	MC_PlanarTrack	Track on which the slave is inSync.