XFC_TimeOfPathPosition

XFC_TimeOfPathPosition calculates the time at which an Nci group has travelled or will have travelled a preset relative path.

The function extrapolates the time in relation to the current path position and dynamics. Precise extrapolation is only possible over a short interval, since the Nci group dynamics may change.

The function block requires precisely one call in order to provide the result. It can therefore be used similar to a function, although as well as the time it may also return an error. This error must be analyzed in order to ensure that the calculated time DcTime is valid.

Inputs

VAR_INPUT
    GrpId        : UDINT;
    PathPosition : LREAL;
    Options      : ST_NcTimeConversionOptions;
END_VAR

GrpId	Group ID of the Nci group. This clearly identifies the requested Nci group in the system.
PathPosition	Relative path
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. 1: The path acceleration of the axis is incorporated into the extrapolation of the relative path.
Options.	CompensationTime	additional compensation time

Outputs

VAR_OUTPUT
    DcTime  : T_DCTIME32; 
    Error   : BOOL;
    ErrorID : UDINT;
END_VAR

DcTime	Distributed clock system time at which the relative path PathPosition will have been travelled or at which this was passed. DcTime contains the lower 32 bits of the complete DcTime and covers a time range of +/- 2 seconds around the current time.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number