ST_LookUpPtpPoint

Such a structure contains the information of a PTP point.

Syntax:

// ATTENTION: pointer arithmetics in arrays of this type
// be sure sizeof is the same as distance in arrays 
//
TYPE ST_LookUpPtpPoint :
STRUCT 
    Position:        LREAL;
    Velocity:        LREAL;
    Acceleration:    LREAL;
    Deceleration:    LREAL;
    Jerk:            LREAL;

    Limiting:        LREAL;                 // Pressure or torque

    Valid:           BOOL;                  // 1 byte
    PositiveOnly:    BOOL;                  // 1 byte
    NegativeOnly:    BOOL;                  // 1 byte
    balign:          ARRAY[4..8] OF BOOL;   // 5 bytes alignment to 8 bytes
END_STRUCT
END_TYPE

Parameter

Name	Type	Description
Position	LREAL	Target position of the PTP point. If there is another point in the motion profile, it will be blended with the BlendingLow rule.
Velocity	LREAL	Velocity with which the point is to be approached.
Acceleration	LREAL	Acceleration with which the point is to be approached. If 0 is transferred, the default values of the axis are used.
Deceleration	LREAL	Deceleration with which the point is to be approached. If 0 is transferred, the default values of the axis are used.
Jerk	LREAL	Jerk with which the point is to be approached. If 0 is transferred, the default values of the axis are used.
Limiting	LREAL	Limitation (torque or pressure) with which the point is to be approached. If 0 is transferred, the idle value of the axis is used.
Valid	BOOL	Marks the point as valid for use with the next command.
PositiveOnly	BOOL	The PTP movement should only be executed if the resulting movement will be in a positive direction.
NegativeOnly	BOOL	The PTP movement should only be executed if the resulting movement will be in the negative direction.
balign	ARRAY [4..8] OF BOOL	[INTERNAL] Adjustment to a byte length of the structure divisible by 8.

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.35	PC or CX (x64, x86)	Tc3_PlasticFunctions v3.12.4.26 or higher