mastercontactlength

REAL

Length of the contact [0--masterCycle] in units of the master

mastercycle

REAL

Master cycle length

qMaster

REAL

Current position of the master.

To be always refreshed before each call to the function

qSlave

REAL

Current position of the slave.

To be always refreshed before each call to the function

reservedCrimper1

REAL

Reserved

reservedCrimper2

REAL

Reserved

status

I32

Motion status.

•M_INITIALIZING, on the first call of the function the user must set the status to this one

•M_HOMING, if the recovery mission is in progress

•M_SYNCHRONIZED, if the slave is docked to the master

Refer to the returns codes for the relevant codes.

slavedirection

REAL

Slave axis direction

slavephase

REAL

Phase of the slave in unit of the master.

If from 10 to 20, the difference (+10) is added to mastercycle (one cycle only).

With slavephase = 0, there is a binding such that whenever a new master cycle starts, the crimper axis is at the beginning of its docking zone

slavecycle

REAL

Slave cycle length in slave's units

kslavemaster

REAL

K factor of master/slave unit of measure.

If master unit is in mm and slave unit is in mm, then K=1.

If master unit is in mm and slave unit is in degrees, for example, if every 500 mm of master advance the blade must make 360 degrees then kslavemaster = 2 * K_PI * blade radius / 360