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Function that executes a previously created MOT (Multiple Output Table).

Syntax

i32 mv_mot_exec (i32 motId, real key, real arr [, struct stru=NULL])

motId

MOT reference code returned by mot_create()

key

Master coordinate (abscissa).

This is the value of the current interpolation key. If a value less than or equal to the first is imposed, the execution index is set immediately at the beginning of the MOT. Similarly by imposing a value greater than or equal to the last, the execution index is set immediately at the end of the MOT

arr

Array of n data with the result of the MOT (ordered).

stru

Data structure of type struct into which to download segment auxiliary data. (optional, default NULL)

Result

Returns:

Value

Meaning

0

Operation ok

1

Ok, underflow(key < smallest key)

2

Ok, overflow(key > larger key)

-1

motId not existing

-3

arr illegal (smaller data size than expected)

-4

stru illegal (size not consistent with the size specified at creation)

-5

Internal error

-6

MOT manager busy (other transaction in progress)

-7

Empty (no points available)

-12

Interpolation type not managed

Validity

Rule

Note

Example of use:

real posSlaveMot, dataFromMot, posMasterMod

; if you have more than a single data associated with the same master position

; then dataFromMot will have to be an array of real

 

; rule

rule AUTO

 

    axes(ax_01)

 

    posMasterMod = abs_mod(ip(MASTER), 360.0)

    esitoMot = mv_mot_exec(rMotID, posMasterMod, dataFromMot)

    posSlaveMot = dataFromMot

    if(esitoMot = 0)

        ip(ax_01) = posSlaveMot

    end_if

 

end_rule

For a concrete example see in the RDE environment: Workspace -> Specials -> Examples Library.

 
  

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