MotionFunctionPoint
Defines a cam table point with its interpolation function type and boundary conditions.
Syntax
Definition:
TYPE MotionFunctionPoint :
STRUCT
FunctionType : EMotionFunctionType;
MasterPosition : LREAL;
SlavePosition : LREAL;
SlaveVelocity : LREAL;
SlaveAcceleration : LREAL;
SlaveJerk : LREAL;
SymmetryRatio : LREAL;
Ignored : BOOL;
END_STRUCT
END_TYPEParameters
|
Name |
Type |
Default |
Description |
|---|---|---|---|
|
FunctionType |
Undefined |
Interpolation function used for the segment starting at this point. | |
|
MasterPosition |
LREAL |
#Invalid |
Master axis position at this point. |
|
SlavePosition |
LREAL |
#Invalid |
Slave axis position at this point. |
|
SlaveVelocity |
LREAL |
#Ignore |
Slave velocity boundary condition at this point. Set to #Ignore for automatic calculation (given by interpolation). |
|
SlaveAcceleration |
LREAL |
#Ignore |
Slave acceleration boundary condition at this point. Set to #Ignore for automatic calculation (given by interpolation). |
|
SlaveJerk |
LREAL |
#Ignore |
Slave jerk boundary condition at this point. Set to #Ignore for automatic calculation (given by interpolation). |
|
SymmetryRatio |
LREAL |
#Ignore |
Normalized inflection point is valid only for rest-to-rest motion functions. This parameter is ignored if it is out of range or set for non-rest-to-rest motion functions. |
|
Ignored |
BOOL |
false |
If TRUE, this point is skipped during cam table compilation. |
Further information
The MotionFunctionPoint data structure describes an interpolation point of a cam plate.
- FunctionType
- Specifies the mathematical function that determines the interpolation between two interpolation points. The starting point for the interpolation is the current interpolation point.
- SlaveVelo
- Velocity of the slave axes at this interpolation point. If the slave velocity is determined implicitly by the selected FunctionType, select the value STRING_TO_LREAL('#Ignore') (default). If a different value is specified, however, it will be rejected with an error during MC_CamObject.Construct(), and an error description will be displayed in the Error List.
- SlaveAcc
- Acceleration of the slave axes at this interpolation point. If the slave acceleration is determined implicitly by the selected FunctionType, STRING_TO_LREAL('#Ignore') (default) must be used. If a different value is specified, however, it will be rejected with an error during MC_CamObject.Construct(), and an error description will be displayed in the Error List.
- SlaveJerk
- Jerk of the slave axes at this interpolation point. If the slave jerk is determined implicitly by the selected FunctionType, STRING_TO_LREAL('#Ignore') (default) must be used. If a different value is specified, however, it will be rejected with an error during MC_CamObject.Construct(), and an error description will be displayed in the Error List.
Version information
- TwinCAT Standard >= v3.1.4026.23.1
- TF5550 MC3 Camming >= v4.0.6 (includes TF5500 MC3 Base >= v4.0.6)