This keyword allows a variable of type STRU_MVTO (STRUCT_P) to be defined.
It is used by the mv_to() motion function.
It consists of the following information:
Field |
Type |
Description |
|
|---|---|---|---|
cPos |
REAL |
Current position [units]. To be updated the first time the function is called. In case the position of an axis is controlled, the assignment to be made is: stru_mvto.cPos = IP() |
|
cSpeed |
REAL |
Current speed [units/sec]. To be updated the first time the function is called. In case the position of an IP axis is controlled, the relative IV (speed) is automatically calculated by RTE. The assignment to be executed thus results: stru_mvto.cspeed = IV() In case the value of a register or variable is driven (thus not the IP), the calculation of cSpeed (current speed) must be done by the user. The simplest system is to calculate the rate of change of the controlled unit as follows:
|
|
dPos |
REAL |
Desired position [units] |
|
dSpeed |
REAL |
Desired speed [units/sec] |
|
acc |
REAL |
Acceleration [units/sec²] |
|
dec |
REAL |
Deceleration [units/sec²] |
|
delta |
REAL |
Time increment since the last execution of the function. If used in rules then it corresponds to the value of si. NOTE: It is not mandatory that the value refer to a time. Nothing prohibits it from being a space of a master axis, for example. |
Example definition:
Example of use:
NOTE: For access remember that indexes start at 0. |
