ST_MotionJob - General Information
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Type: |
Data structure |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
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Data structure for parameterization of motion jobs. The substructures contain specific parameters for job groups and have only to be parameterized if a job belongs to the corresponding group.
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INVALID DATA |
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Do not perform an online change while a job of type ET_MotionJobType.MultiCam is in the job buffer list or active in FB_SoMotionGenerator. |
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Failure to follow these instructions can result in injury or equipment damage. |
Motion jobs of type ET_MotionJobType.MultiCam need additional data from a PDL.ST_MultiCam structure. The motion job has therefore a reference (pointer) to PDL.ST_Multicam in ST_MotionJob.ST_Cam.rstMultiCam. When the job is commanded to FB_SoMotionGenerator via the TakeJob method, the job parameters are copied into the internal job buffer (including the reference to ST_MultiCam). The reference to the ST_MultiCam data is not updated during the online change.
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Variable |
Data type |
Description |
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etJobType |
Type of the positioning job to be assigned |
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diJobId |
DINT |
Identification number of the motion job. Serves for checking which positioning job is active. diJobId can either be defined manually by the user or automatically by FB_SoMotionGenerator. In this case, diJobId := -1 must be set. |
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xTerminateCurrentJob |
BOOL |
TRUE := If this job is the first in the job queue, the currently active job is canceled and replaced by this job. |
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xClearBufferedJobs |
BOOL |
TRUE := Deletes all jobs in the job queue (except for the currently active job). |
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etSetposMode |
Defines the SetPos type to be executed onto the axis i_ifDrive. The SetPos is executed upon activation of the motion job. |
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lrSetposValue |
LREAL |
Position (difference) of the SetPos to be executed |
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stPositioning |
Substructure for parameterization of positioning jobs |
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stCam |
Substructure for parameterization of cam jobs |
