Overview
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Type:
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Function
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Available as of:
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SystemInterface_1.32.6.0
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Versions:
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Current version
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Task
Read the position values and the velocity values consistently and with a time reference.
Description
With this function, the consistent measured values (position iq_lrPos and velocity iq_lrVel) of a position source i_stLogAdr can be read. Here, the MechRefPosition and the RefVelocity are used. They are generated cyclically during active recording (FC_PosVelTimeEnable(lLogAdr, TRUE) ). However, there is a time offset between recording and reading the values that can be corrected by interpolation. The value iq_lrTimeDiffUs (in microseconds) is provided for this purpose.
Interface
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Input
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Data type
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Description
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i_stLogAdr
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ST_LogicalAddress
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Logical address of the position source
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Input/Output
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Data type
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Description
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iq_lrPos
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LREAL
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Position
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iq_lrVel
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LREAL
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Velocity
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iq_udiTsc
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UDINT
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Time stamp
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iq_lrTimeDiffUs
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LREAL
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Time difference between reading and recording the values
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Return Value
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Data type
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Description
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DINT
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0: OK
-99: Error detected
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