GetInterpoErrorPoint: Error Point Detection Function (ACTION

At a Glance

This function is very useful when debugging the trajectory. It provides the number of the point that caused the error following a trajectory calculation using the TrjCompute function.

Function Syntax

The interface is as follows:

Memory address	Parameter	Description
%MWr.m.c.10	ACTION_TRF	14902
%MDr.m.c.11	param_trf_1	not used
%MDr.m.c.13	param_trf_2	not used
%MFr.m.c.15	param_trf_3	not used
%MFr.m.c.17	param_trf_4	not used
%MDr.m.c.6	RETURN_TRF_1	number of the point that caused the error

Example:

TRF_RECIPE %CH3.21 (0,0);

IF %M4 AND NOT %MW3.21:X3 THEN

%MW3.21.10:=14902;

TRF_RECIPE %CH3.21(0,0);

RESET %M4;

END_IF;

This function will mainly be used in case of an error, when modifying a point on the trajectory via the PLC’s application program.