GetTabResultF: Trajectory Calculation Result (ACTION_TRF = 16901)
(Original Document)
About us
At a Glance
Having uploaded the trajectory to the module, the module has calculated the various cam profiles (which associate real slave axes with the master axis) for each axis.
You may now proceed to work on the movement and its trajectory by obtaining various different items of information.
The GetTabResultF function can be used to obtain the maximum permissible speed as well as the calculated speed (speed actually used).
Function Syntax
GetTabResultF is executed:
TRF_RECIPE %CHr.m.c (Table_length, Reception_table)
Parameter
Description
%CHr.m.c
Channel associated with module channel group consisting of the slave axes and master axis of the trajectory for which information is required.
Example: %CH3.21
Table_length
Number of words in the reception table: Table_length = 4 x number of points in trajectory.
Reception_table
First word in the table to which the values requested by parameter param_trf_3 have been assigned. This table contains two floating points for each point on the trajectory. These words contain the speeds (param_trf_3 = 1.0 or 2.0) or the characteristic positions for each segment type (param_trf_3 = 0.0). A more detailed description of the information received when you wish to obtain the position of the master appears below.
Example: %MW0:
Master Position
When you request the position of the master, you will receive two floating-point words for each point (P0, P1, , Pn...) in the slave axis segments. These floating-point words indicate the position of the master points that are identical to the slave points for type 0, 11 and 12 segments. In the case of type 1, 2 and 10 segments, interpolation creates two segments in order to represent the segment required and the points (and therefore the speeds) do not coincide.
The table below lists example points for a trajectory illustrated below.
Point
X
Y
Type
Master position
Point on illustration
P0
0
0
Not known
0
Always 0
0
Always 0
P1
2000
4000
10
3472,136
End of linear section between P0 and P1, start of circular link
5263,540
End of circular link at P1
P2
3500
4000
0
5263,540
End of linear section between P1 and P2
5263,540
End of linear section between P1 and P2
P3
4000
3000
10
6381,574
End of linear section between P2 and P3, start of circular link
7248,053
End of circular link at P3
P4
3000
2000
0
8162,267
End of linear section between P3 and P4
8162,267
End of linear section between P3 and P4
P5
2000
2000
1
8162,267
End of linear section between P4 and P5, start of third-degree link
10161,267
End of third-degree link at P5
P6
0
0
Linear link
11990,695
End of linear section between P5 and P6 (total master length)
11990,695
End of linear section between P5 and P6 (total master length)
Illustration
Illustration for above table: