TYPE SMC_POSINFO : STRUCT
This data type describes its coordinates and the positions of the additional axes for a particular position point.
InOut:
|
Name |
Type |
Initial |
Comment |
|
iFrameNo |
INT |
0 |
In this variable additional information not relevant for the SoftMotion modules may be stored by the user. |
|
wAuxData |
WORD |
7 |
Bit by bit description of position axis to be calculated by the SMC_Interpolator. Its initialization with 2#111 causes the X, Y and Z axes to be interpolated. The first bit set will effect the calculation of the dX position, whereas the seventh bit for example will effect a processing of dA2. |
|
wSProfile |
WORD |
0 |
Analogously to wAuxData, the value of wSProfile prescribes whether the additional axes, i.e. other than the X or Y axis, shall be interpolated in linear (FALSE) or sigmoid (S-) shape (TRUE) with constant jerk. Bit2 refers to the Z axis, Bit6 to P, Bit7 to Q, Bit8 to U, Bit9 to V and Bit10 to W. |
|
dX |
LREAL |
0 |
X-position in coordinate system |
|
dY |
LREAL |
0 |
Y-position in coordinate system |
|
dZ |
LREAL |
0 |
Z-position in coordinate system |
|
dA |
LREAL |
0 |
Currently not used |
|
dB |
LREAL |
0 |
Currently not used |
|
dC |
LREAL |
0 |
Currently not used |
|
dA1 |
LREAL |
0 |
Position of additional axis P |
|
dA2 |
LREAL |
0 |
Position of additional axis Q |
|
dA3 |
LREAL |
0 |
Position of additional axis U |
|
dA4 |
LREAL |
0 |
Position of additional axis V |
|
dA5 |
LREAL |
0 |
Position of additional axis W |
|
dA6 |
LREAL |
0 |
Position of additional axis A6 (Cannot be programmed with G-code!) |
