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DUTs

ENUMs

E_KinematicDOF

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{attribute 'qualified_only'}
{attribute 'strict'}
TYPE E_KinematicDOF :
(
    eKinematicDOF_2 := 2, //
    eKinematicDOF_3 := 3, //
    eKinematicDOF_4 := 4, // 
    eKinematicDOF_5 := 5, // 
    eKinematicDOF_6 := 6, //
    eKinematicDOF_Max := 7 // 
);
END_TYPE

E_AcsJoint

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{attribute 'qualified_only'}
TYPE E_AcsJoint :
(
    Joint_1 := 1,
    Joint_2 := 2,
    Joint_3 := 3,
    Joint_4 := 4,
    Joint_5 := 5,
    Joint_6 := 6
);
END_TYPE

E_McsAxis

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{attribute 'qualified_only'}
TYPE E_McsAxis :
(
    X := 1,
    Y := 2,
    Z := 3,
    Rot1 := 4, // C1, Rx,..
    Rot2 := 5, // C2, Ry,..
    Rot3 := 6 // C3, Rz,..
);
END_TYPE

STRUCTs

ST_KinematicPosition

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TYPE ST_KinematicPosition :
STRUCT
    ACS : ARRAY[1..8] OF LREAL;
    MCS : ARRAY[1..8] OF LREAL;
END_STRUCT
END_TYPE

ST_KinematicMotionParameter

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TYPE ST_KinematicMotionParameter :
STRUCT
    Acs : ARRAY[1..KINEMATIC_CONSTANTS.DEGREES_OF_FREEDOM] OF ST_KinematicMotionParameterValues;
    Mcs : ARRAY[1..KINEMATIC_CONSTANTS.DEGREES_OF_FREEDOM] OF ST_KinematicMotionParameterValues;
END_STRUCT
END_TYPE

ST_KinematicMotionParameterValues

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TYPE ST_KinematicMotionParameterValues :
STRUCT
    Position            : LREAL;
    Acceleration        : LREAL;
    Deceleration        : LREAL;
    Jerk                : LREAL;
END_STRUCT
END_TYPE

ST_BasePoint

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TYPE ST_BasePoint :
STRUCT
    AcsPosition : ARRAY[1..KINEMATIC_CONSTANTS.DEGREES_OF_FREEDOM_MAX] OF LREAL;
END_STRUCT
END_TYPE

ST_KinematicComponentAmp_CmGroupState

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TYPE ST_KinematicComponentAmp_CmGroupState :
    STRUCT
            McToPlcCm                   : CDT_MCTOPLC_GROUP_CM;
            GroupBuilt                  : BOOL;
            GroupMoving                 : BOOL;
            GroupHoming                 : BOOL;
            GroupErrorStop              : BOOL;
            GroupNotReady               : BOOL;
            GroupStandby                : BOOL;
            GroupStopping               : BOOL;
            GroupDisabled               : BOOL;
            GroupTrackingInSync         : BOOL;
            GroupTrackingActive         : BOOL;
            GroupTrackingCommandAborted : BOOL;
            AllAxesStanding             : BOOL;
            ConstantVelocity            : BOOL;
            Accelerating                : BOOL;
            Decelerating                : BOOL;
            InPosition                  : BOOL;
            Error                       : BOOL;
            ErrorId                     : UDINT;
    END_STRUCT
END_TYPE

ST_AmpPoint

Advanced Motion Pack Space Point incl. required parameter for move. This struct can be used to create Machine Point Management System (e.g. Teaching).

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TYPE ST_AmpPoint EXTENDS ST_BasePoint :
STRUCT
    CircularMove            : ST_AmpPointCircular;                                                      
    Velocity                : MC_LREAL := MC_INVALID;
    Acceleration            : MC_LREAL := MC_DEFAULT;
    Deceleration            : MC_LREAL := MC_DEFAULT;
    Jerk                    : MC_LREAL := MC_DEFAULT;
    BufferMode              : MC_BUFFERMODE := MC_BUFFER_MODE.mcAborting;
    TransitionMode          : MC_TRANSITION_MODE := mcTransModeNone; 
    TransitionParameter     : ARRAY[1..2] OF LREAL;
    TransitionParameterCount: UDINT;
    InvokeId                : UDINT;
END_STRUCT
END_TYPE

TYPE ST_AmpPointCircular :
STRUCT
    CircMode                : MC_CIRC_MODE;
    AuxPoint                : ARRAY[1..3] OF MC_LREAL;
    PathChoice              : MC_CIRC_PATHCHOICE;
END_STRUCT
END_TYPE
Warning

BufferMode and TransitionMode are dependent on each other.

Information

Linear Parameter Detail:

Circular Parameter Detail:

ST_CamTableSlaveDynamics

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TYPE ST_CamTableSlaveDynamics :
    STRUCT
        SlavePosition     : LREAL;
        SlaveVelocity     : LREAL;
        SlaveAcceleration : LREAL;
    END_STRUCT
END_TYPE