common data

0.3.0

Reused variables for the YaskawaMce functions.

Version history

0.3.0

14 Apr 2022 deGroot

Changes

Added:

userFrames

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0.2.0

24 Feb 2022 deGroot

Changes

Added:

indexes for FOR loops

0.1.0

11 Feb 2022 deGroot

Changes

Added:

initial release

Content

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MLX

MLxData

The MotoLogix variable which acts as the shared memory for a MotoLogix system.

Check the YaskawaMLx library for more information.

QA

INT

The Queueing Amount is the number of motions allowed to be queued.

Queueing motion in advance is necessary for smooth motion.

QA_MAX

INT

(default: LIMIT(1, GVL.NR_OF_INSTANCES - 1, 20))

Max Queueing Amount

Max number of motions which can be queued.

allowQueuing

BOOL

Allow queuing the next motions.

value	explanation
0	`QA` is decreased at the end of each motion until `0`
1	`QA` is updated depending on the number of remaining entries until standstill

bFirstMove

BOOL

Must be True when calculating the first motion of the PosTable.

False otherwise.

blinkSignals

MceBlinkSignalsIO

Signals for blinking indicator lights.

Check the data type for the available blinking patterns.

firstMove

BOOL

Must be True when calculating the first motion of the PosTable.

False otherwise.

i

DINT

Index for FOR loops.

index

INT

Index to start the search from.

k

DINT

Index for FOR loops.

nPosTableSize

INT

Number of entries of the PosTable.

posTable

McePosTableData

Trajectory to be processed by PosTable.

posTableMode

SINT

PosTable operation mode.

value	explanation
0	with blending
1	not blending
2	single motion (wait for step after each motion)

posTableSize

INT

Number of entries of the PosTable.

rollOver

BOOL

Continue from the top of the PosTable after reaching the end.

stopAfterLastEntry

BOOL

Continue to the start of PosTable when searching for the next Index and LoadIndex if False.

userFrames

MceUserFrames

Collection of user frames for this robot.

Check the data type for more information.