This keyword allows a variable of type STRU_MVTOCJV_INFO (STRUCT_P) to be defined.
It is used by the motion function mv_to_cjv_info().
It consists of the following information:
Field |
Type |
Description |
|---|---|---|
targetSpeed |
REAL |
Speed target value [units/sec] |
dAcc |
REAL |
Acceleration value to reach target [units/sec²] |
dJerk |
REAL |
Jerk value to reach target [units/sec³] |
cPos |
REAL |
Current position [units]. To be updated the first time the function is called |
cSpeed |
REAL |
Current speed [units/sec]. To be updated the first time the function is called |
cAcc |
REAL |
Current acceleration [units/sec³]. To be updated the first time the function is called |
posInfo |
REAL |
Position reached [units] |
timeInfo |
REAL |
Time required [sec] |
Example declaration:
Example of use:
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