ST_LookUpClamping

Such a structure contains the information of a clamping point.

Syntax:

// ATTENTION: pointer arithmetics in arrays of this type
// be sure sizeof is the same as distance in arrays 
//
TYPE ST_LookUpClamping :
STRUCT
    Position:        LREAL;
    Velocity:        LREAL;
    Acceleration:    LREAL;                 // velocity units per second
    Limiting:        LREAL;                 // pressure or torque
    LimitingRamp:    LREAL;                 // limiting units per second

    Duration:        LREAL;                 // seconds

    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 clamping point.
Velocity	LREAL	Velocity with which the clamp feed should be moved.
Acceleration	LREAL	Acceleration with which the clamping velocity should be moved. If 0 is transferred, the default values of the axis are used.
Limiting	LREAL	Limitation (torque or pressure) with which the clamping is to be executed. If 0 is transferred, the idle value of the axis is used.
LimitingRamp	LREAL	Ramp to the limitation value [limitation unit / s].
Duration	LREAL	Duration over which the clamping point is to be executed.
Valid	BOOL	Marks the clamping point as valid for use with the next command.
PositiveOnly	BOOL	The clamping movement should only be carried out if the resulting movement will be in a positive direction.
NegativeOnly	BOOL	The clamping movement should only be carried out 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