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Validity: RC3E v33.3.2 (or later)

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

It is used by the tracking() function.

It consists of the following information:

Field

Type

Description

despos

REAL

Desired quota to be reached. can also be a quantity that evolves over time (quota of another axis)

desspeed

REAL

It must be updated each time the function is called and represents the velocity of the despos field. In case of an axis it represents the IV of the axis itself while in case of a variable it can be calculated as the variation of the field despos over time:

[new target - previous despos / field delta]

actpos

REAL

Current quota of the unit controlled by the function

actspeed

REAL

Current speed of the unit controlled by the function

maxspeed

REAL

Maximum speed of the unit controlled by the function

acc

REAL

Maximum acceleration of the unit controlled by the function

posmin

REAL

Lower slave end of strokes of the unit controlled by the function

posmax

REAL

Upper slave end of strokes of the unit controlled by the function

delta

REAL

Sampling interval (si)

Example declaration:

; definition of trk variable of type STRU_TRACK

STRU_TRACK trk

Example usage:

; use of the structure for a movement

; if the tracking command is active, axis 2 tracks axis 1

; definition of variable m1 of type STRU_TRACK

STRU_TRACK m1

; definition of accessory variables

I32 trk

I32 returned

; if the tracking command is given.

if(trk)

 ; I insert the data into the structure

 m1.delta = si; sampling interval [sec]

 m1.desspeed = iv(1) ; desired speed [unit/sec]

 m1.despos = ip(1)   ; desired position [unit]

 m1.actpos = ip(2)   ;  current position [unit]

 m1.actspeed = iv(2) ; current speed [unit/sec]

 m1.maxspeed = max_spe(2) ; maximum speed [unit/sec]

 m1.acc = max_acc(2)   ;  maximum acceleration [unit/sec^2]

 m1.posmin = min_str(2) ;lower end of strokes [unit]

 m1.posmax = max_str(2) ;upper end of strokes [unit]  

 ; I call the tracking function

  returns = tracking(m1)

 ;I assign the calculated velocity to the physical axis

 ip(2) = m1.actpos

 ; ; if the tracking command is not active instead...

else

 ; ; ...stop the axis

 iv(2) = ramp(iv(2) ,0 , max_acc(2))

endif

 
  

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