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
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;