Data type: pathdetails, Data type declaration, Pathdetails – Yaskawa MotionWorks IEC Toolboxes User Manual

Page 252

Gantry Toolbox: DataTypes

MotionWorks IEC61131-3 Toolboxes: 2013-09-13

239

Data Type: PathDetails

For use with the

Function Block

Data Type Declaration

PathDetails:STRUCT

SegmentType:INT;

(* Indicates linear or arc, see TB_PatternType *)

XCoord:LREAL;

(* If Linear segment, the absolute coordinate of the X axis relative to the start of the

path. *)

YCoord:LREAL;

(* If Linear segment, the absolute coordinate of the Y axis relative to the start of the

path. *)

Radius:LREAL;

(* If Arc segment, the radius of the arc in XY user units. *)

StartAngle:LREAL;

(* If Arc segment, the starting angle on a unit circle, 0 degree = 3 O'Clock position *)

TraversedAngle:LREAL;

(* If Arc segment, the traversed angle, where CW = negative, CCW = positive *)

Resolution:REAL;

OutputFlags:DWORD;

(* Indicator that can be used to control outputs along the path motion *)

VectorPosition:LREAL;

(* Calculated relative travel of the tool point for the current segment *)

END_STRUCT;