Yt_TrackOptions
Yt_TrackOptions: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| SyncIn | Yt_TrackSyncInOptions | This structure contains a ProfileType and a ProfileParameter. Together, these values specify the distance over which the PCS transitions from stationary to fully tracking the master. |
MyTracking.SyncIn.Mode |
| SyncOut | Yt_TrackSyncOutOptions | This structure contains a ProfileType and a ProfileParameter. Together, these values specify the distance over which the PCS transitions from fully tracking the master to becoming stationary. |
MyTracking.SyncOut.ConveyorDistance |
| TrackScaling | LREAL | If the master axis such as a conveyor is not configured with the same user units as the Cartesian space of the group, set the conversion ratio of the two user units. |
MyTracking.TrackScaling |
| Reserved | Yt_TrackOptionsReserved | Reserved |
|
Yt_TrackSyncInOptions: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Mode | INT | 0 = MasterDistance 1 = ElaspsedTime 2 = WithinRange 3 = AccelLimited |
MyTracking.SyncIn.Mode |
| Padding1 | INT |
|
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| Padding2 | DINT |
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| ConveyorDistance | LREAL | With Mode = #MasterDistance, this is the distance the conveyor will travel during TrackState 2 while the TCP is achieving the matching velocity to track the conveyor. | MyTracking.SyncIn.ConveyorDistance |
| TCPDistance | LREAL | The distance the TCP will travel during Trackstate 2 while synchronizing with the conveyor. | MyTracking.SyncIn.TCPDistance |
| MinSyncDistance | LREAL | With Mode = #WithinRange, this defines the minimum allowable distance between the Tracking Position and End Distance when sync-in begins. If the Tracking Position is closer than this value to End Distance, then an error will occur. If 0, then 0.5*ConveyorDistance will be used by default. The theory is that such a late start for tracking may cause the mechanism to over speed its capabilities to achieve tracking with the conveyor. |
|
| AccelLimit | LREAL | Reserved |
|
| DelayLimit | LREAL | With Mode = ExecutionMode#Queued or #Delayed, this is the the maximum distance the Tracking Position may travel past StartDistance without the ExecutionMode being satisfied before an error occurs. The theory is that such a late start for tracking may cause the mechanism to over speed its capabilities to achieve tracking with the conveyor. If 0, then the DelayLimit is unlimited. |
|
| Reserved | Yt_TrackSyncInOptsReserved | Reserved |
|
YT_TrackSyncInOptsReserved: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_TrackSyncInOptsReserved | BYTE | 1..16 | Reserved |
|
Structures:
Yt_TrackSyncOutOptions
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Reserved1 | LREAL | Reserved |
|
| ConveyorDistance | LREAL | The amount of travel by the conveyor while the TCP de synchronizes from tracking . EndDistance - SyncOut.ConveyorDistance is where the TCP will start to de synchronize. | MyTracking.SyncOut.ConveyorDistance |
| Reserved2 | Yt_TrackSyncOutOptsReserved | Reserved |
|
Array:
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_TrackSyncOutOptsReserved | BYTE | 1..48 | Reserved |
|
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_TrackOptionsReserved | BYTE | 1..120 | Reserved |
|