L_MC2P_CamDataXYVA
This FB contains the definition of the data points with XYVA information
The instance of the FB
- is an interface of L_MC2P_IMotionData type
- can be directly connected to an input of L_MC2P_IMotionData type of another FB, e.g.
- CamData input of the FB L_MC2P_CamRefFromStruct
L_MC2P_CamRefFromStruct1.itfCamData:= L_MC2P_CamDataPoint
XYVA1
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L_MC2P_CamDataXYVA |
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eLawOfMotion |
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LREAL |
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lrX |
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LREAL |
- |
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lrY |
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LREAL |
- |
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lrYs |
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LREAL |
- |
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lrYss |
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LREAL |
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lrYsss |
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LREAL |
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lrLambda |
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LREAL |
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lrParam1 ... lrParam4 |
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Name Data type |
Information/possible settings |
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eLawOfMotion |
Coding of the motion rules Note: The law of motion effective for one segment is preselected with the starting point of the segment. |
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lrX LREAL |
Master starting position |
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lrY LREAL |
Slave starting position |
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lrYs LREAL |
dY/dX (with reference to the master
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lrYss LREAL |
dY/dX
2
(with reference to the master
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lrYsss LREAL |
dY/dX
3
(with reference to the master
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lrLambda LREAL |
Scaled position of the inflection point for the following laws of motion:
When lrLambda = 0.5, the profile is divided symmetrically. |
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lrParam1 ... lrParam4 LREAL |
Additional parameter 1 ... 4 (reserve; not currently used) |
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Example: Create curve with three points
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Create instances
L_MC2P_CamDataXYVA_1: ARRAY[0..2] OF L_MC2P_CamDataXYVA;
L_MC2P_CamREfFromStruct_1: L_MC2P_CamREfFromStruct;
MC_CamIn_1: MC_CamIn;
Call FBs and execute curve
// define 3 points within the curve 360 units
L_MC2P_CamDataXYVA_1[0].lrX := 0.0;
L_MC2P_CamDataXYVA_1[0].lrY := 0.0;
L_MC2P_CamDataXYVA_1[0].lrYs := 1;
L_MC2P_CamDataXYVA_1[0].lrYss := 0.0;
L_MC2P_CamDataXYVA_1[0].eLawOfMotion := L_MC2P_LawOfMotion.Poly5;
L_MC2P_CamDataXYVA_1[1].lrX := 180.0;
L_MC2P_CamDataXYVA_1[1].lrY := 100.0;
L_MC2P_CamDataXYVA_1[1].lrYs := 0;
L_MC2P_CamDataXYVA_1[1].lrYss := 0.0;
L_MC2P_CamDataXYVA_1[1].eLawOfMotion := L_MC2P_LawOfMotion.Poly5;
L_MC2P_CamDataXYVA_1[2].lrX := 360.0;
L_MC2P_CamDataXYVA_1[2].lrY := 360.0;
L_MC2P_CamDataXYVA_1[2].lrYs := 1;
L_MC2P_CamDataXYVA_1[2].lrYss := 0.0;
L_MC2P_CamDataXYVA_1[2].eLawOfMotion := L_MC2P_LawOfMotion.Poly5;
L_MC2P_CamRefFromStruct_1(
xExecute:= TRUE,
sName:= 'Curve1' ,
udiCamDataCount:= 3 ,
itfCamData:= (L_MC2P_CamDataXYVA_1[0]),
eCamType:= L_MC2P_CamType.XYVA ,
eInterpolationQuality:= L_MC2P_InterpolationQuality.Linear,
lrXStartPos:= 0.0,
lrXEndPos:= 360.0,
xDone=> ,
xBusy=> ,
xError=> ,
eErrorID=> );
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Connection for MC_CamIn
L_MC2P_CamRefFromStruct