ClampingPoint

Position

LREAL

Get, Set

Target position of the PTP point.

Duration

LREAL

Get, Set

Duration over which the clamping point is to be executed.

Can be shortened by reaching the position of a subsequent clamping point.

LimitingRamp

LREAL

Get, Set

Ramp to the limitation value [limitation unit / s].

Acceleration

LREAL

Get, Set

Acceleration with which the point is to be approached.

If 0 is transferred, the default values of the axis are used.

Limiting

LREAL

Get, Set

Limitation (torque or pressure) with which the point is to be approached.

If 0 is transferred, the idle value of the axis is used.

NegativeOnly

BOOL

Get, Set

The PTP movement should only be executed if the resulting movement will be in the negative direction.

PositiveOnly

BOOL

Get, Set

The PTP movement should only be executed if the resulting movement will be in a positive direction.

Velocity

LREAL

Get, Set

Velocity with which the point is to be approached.

Set(nIdx)

Assigns the configured properties of the internal lookup table to position nIdx. This activates the point for the next movement. The activation status can be queried after assignment via Fetch().Activated.

AsStruct()

Read and write a point as ST_LookUpClamping structure.

Fetch(x)

Loads point x from the internal lookup table into this interface so that the values can be retrieved via the properties. The method returns an interface to the ClampingPoint and can be called in a chain. Information on the activation status of the point is only available in the return interface:
Ptp.ClampingPoint.Fetch(2).Activated

DeleteAll()

All segments in the lookup table are marked as invalid.

Reset()

Resets all set properties of this point to the default values.