Data type: gantrystruct, Data type declaration, Gantrystruct – Yaskawa MotionWorks IEC Toolboxes User Manual
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Gantry Toolbox: DataTypes
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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Data Type: GantryStruct
This datatype contains all information pertaining to a gantry system.
Data Type Declaration
TYPE
GantryStruct:STRUCT (
* DataType to be used in the application code *)
ID:INT;
(* Can be used to uniquely identify more than one gantry in a system
*)
Virtual:
(* All data pertaining to the Virtual axis *)
X:
(* All data pertaining to the X axis *)
Y:
(* All data pertaining to the Y axis *)
Z:
(* All data pertaining to the Z axis *)
W:
(* All data pertaining to the W axis *)
XPrime:
(* All data pertaining to the XPrime axis *)
YPrime:
(* All data pertaining to the YPrime axis *)
ZPrime:
(* All data pertaining to the ZPrime axis *)
Opened:BOOL;
(* Gripper status *)
Closed:BOOL;
(* Gripper status *)
OpenCommand:BOOL;
(* Gripper open request *)
CloseCommand:BOOL;
(* Gripper close request *)
GripperValue:INT;
(* Constant that equates to the gripper *)
Pick:INT;
(* Commanded picking location row or column to be used
as array index to actual position *)
Place:INT;
(* Commanded picking location row or column to be used
as array index to actual position *)
Up:LREAL;
(* mm Position of the vertical axis when "UP."