ReadSlaveDynamics
Evaluates slave position, velocity and acceleration at a specific master position within the cam table profile.
Returns 0 on success or a non-zero error code.
Syntax
Definition:
METHOD ReadSlaveDynamics : UDINT
VAR_INPUT
MasterPosition : LREAL;
END_VAR
VAR_OUTPUT
SlavePosition : LREAL;
SlaveVelocity : LREAL;
SlaveAcceleration : LREAL;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
MasterPosition |
LREAL |
Master cam position at which to evaluate the slave dynamics. |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
SlavePosition |
LREAL |
Computed slave position at the given master cam position. |
|
SlaveVelocity |
LREAL |
Computed slave velocity at the given master cam position. |
|
SlaveAcceleration |
LREAL |
Computed slave acceleration at the given master cam position. |
Return value
UDINT
Possible error codes
For this function block, the following values, among others, are possible for the ErrorId output:
Error(Hex) | Error(Dec) | Error type | Description |
|---|---|---|---|
0x8120 | 33056 | Environment | Invalid configuration for object (e.g., in TwinCAT 3 Engineering (XAE)). The static configuration of the object (parameters, init values, linked symbols) is incomplete or invalid, so the object cannot reach the target state. |
An overview of all NC error codes can be found here: