Please enable JavaScript to view this site.

This keyword allows a variable of type STRU_FOLLOW (STRUCT_P) to be defined.

It is used by the mv_follow() motion function.

It consists of the following information:

Field

Type

Description

masterDirection

REAL

•1, if the master axis evolves toward positive quotas

•-1, if the master axis evolves toward negative quotas

qSyncMaster

REAL

Master axis synchronism quota

masterCycle

REAL

Increment step of the qSyncMaster dimension to handle repeated cyclic tracking (unsigned)

qMaster

REAL

Master position.

Must be updated before each function call

velMaster

REAL

Master speed.

Must be updated before each function call

si

REAL

Sampling interval si

slaveDirection

REAL

•1, if the slave axis evolves toward positive quotas

•-1, if the slave axis evolves toward negative quotas

qSyncSlave

REAL

Slave axis synchronism start quota

qSyncOut

REAL

Slave axis synchronism stop quota

qParkSlave

REAL

Parking quota of the slave axis

slaveCycle

REAL

qSyncSlave quota increment step to handle repeated cyclic tracking (unsigned)

velMaxSlave

REAL

This is the upper speed limit allowed for slave axis movement. In case the correction formula requires going above the maximum speed, the value returned by the function would be equal to velMaxSlave

accMaxSlave

REAL

It is the maximum acceleration value accepted for the slave axis

kSlaveMaster

REAL

K of master/slave adaption.

e.g. if a knife 250 mm long, kslavemaster = K_DUEPI * 0.25 / 360

qSlave

REAL

Slave position. Must be updated before each function call

velSlave

REAL

Slave speed. Must be updated before each function call

status

I32

•M_POSITIONING, the slave axis is moving to the parking position.
On the first call of the function, the user must set status to M_POSITIONING

•MV_WAITING, the slave axis is waiting to start

•M_WAITING_NEXT_CYCLE, there are no conditions to leave; I am waiting for the next appointment

•M_REACHED, the slave axis has hooked up

Refer to the returns codes for the relevant codes.

Example declaration:

; definition of variable saw1 of type STRU_FOLLOW

STRU_FOLLOW saw1

Example of use:

; use of the data contained in the structure.

; definition of variable saw1 of type STRU_FOLLOW

STRU_FOLLOW saw1

; definition of accessory variables

I32 result

REAL returns

; insertion of data into the structure

if(not(r(100)))

    saw1.masterDirection = 1

    saw1.qSyncMaster = 400

    sawa1.masterCycle = 50

    sawa1.si = si

    sawa1.slaveDirection = 1

    sega1.qSyncSlave = 80

    sawa1.qSyncOut = 300

    sawa1.qParkSlave = 250

    sawa1.slaveCycle = 30

    sawa1.velMaxSlave = 60

    sawa1.accMaxSlave = 10

    sawa1.kSlaveMaster = 2

    sega1.status = 2 ; 2 is the code for M_POSITIONING

    r(100) = 1

endif

; before calling the mv_follow() function.

; I update the dimensions and speed of the master and slave

saw1.qMaster = cp(1)

sawa1.velMaster = cv(1)

sawa1.qSlave = cp(2)

sawa1.velSlave  =cv(2)

; I run the mv_follow() function.

returns = mv_follow(result, saw1)

; I evaluate the variable result

if(result = 6) ; 6 is the code for M_REACHED

    sr(1) = "Axis hooked"

endif

 
  

Keyboard Navigation

F7 for caret browsing
Hold ALT and press letter

This Info: ALT+q
Page Header: ALT+h
Topic Header: ALT+t
Topic Body: ALT+b
Contents: ALT+c
Search: ALT+s
Exit Menu/Up: ESC