XFC_PathPositionAtTime

XFC_PathPositionAtTime calculates a relative path distance at a given time in relation to the current path position.
The function extrapolates the path distance in relation to the current dynamics. Precise extrapolation is only possible over a short interval, since the group dynamics may change.
The function block requires precisely one call in order to provide the result. Therefore it can be used in a similar way to a function, but may return an error in addition to the relative path distance. This error must be evaluated to ensure that the calculated path distance is valid.
Inputs
VAR_INPUT
GrpId : UDINT;
DcTime : T_DCTIME32;
Options : ST_NcTimeConversionOptions;
END_VAR
GrpId |
Group ID of the Nci group. This clearly identifies the requested Nci group in the system. | |
DcTime |
Distributed clock system time. | |
Options |
Data structure with options for the extrapolation of the relative path. | |
Options. |
SubIndex |
not implemented |
Options. |
InterpolationOptions |
0: The extrapolation of the relative path is carried out at the current path velocity without taking into account the current path acceleration. |
Options. |
CompensationTime |
additional compensation time. |
Outputs
VAR_OUTPUT
PathPosition : LREAL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
PathPosition |
Extrapolated relative path up to the preset time DcTime. |
Error |
Becomes TRUE if an error occurs. |
ErrorID |
If the error output is set, this parameter supplies the error number |