Types and Enums

E_NciEntryType

TYPE E_NciEntryType :
(
    E_NciEntryTypeNone := 0,
    E_NciEntryTypeGeoStart := 1,
    E_NciEntryTypeGeoLine := 2,
    E_NciEntryTypeGeoCirclePlane := 3,
    E_NciEntryTypeGeoCircleCIP := 4,
    E_NciEntryTypeGeoBezier3 := 10,
    E_NciEntryTypeGeoBezier5 := 11,
    E_NciEntryTypeMFuncHsk := 20,
    E_NciEntryTypeMFuncFast := 21,
    E_NciEntryTypeMFuncResetAllFast := 23,
    E_NciEntryTypeHParam := 24,
    E_NciEntryTypeSParam := 25,
    E_NciEntryTypeTParam := 26,
    E_NciEntryTypeDynOvr := 50,
    E_NciEntryTypeVertexSmoothing := 51,
    E_NciEntryTypeBaseFrame := 52,
    E_NciEntryTypePathDynamics := 53,
    E_NciEntryTypeAxisDynamics := 55,
    E_NciEntryTypeDwellTime := 56,
    E_NciEntryTypeTfDesc := 100,
    E_NciEntryTypeEndOfTables := 1000
);
END_TYPE

ST_NciGeoStart

TYPE ST_NciGeoStart :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoStart; (*do not override this parameter *)
    fPosX: LREAL;
    fPosY: LREAL;
    fPosZ: LREAL;
    fPosQ1: LREAL;
    fPosQ2: LREAL;
    fPosQ3: LREAL;
    fPosQ4: LREAL;
    fPosQ5: LREAL;
END_STRUCT
END_TYPE

Sets the start position for the first geometry entry. This is necessary, if the first geometry entry is a circle or if tangential following in the first segment is ON. This structure can optionally be written at each start of the first table.

ST_NciGeoLine

TYPE ST_NciGeoLine :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoLine; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    fEndPosX: LREAL;
    fEndPosY: LREAL;
    fEndPosZ: LREAL;
    fEndPosQ1: LREAL;
    fEndPosQ2: LREAL;
    fEndPosQ3: LREAL;
    fEndPosQ4: LREAL;
    fEndPosQ5: LREAL;
    fVelo: LREAL;
    bRapidTraverse: BOOL;
    bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

Describes a straight line with specified velocity.

ST_NciGeoCirclePlane

TYPE ST_NciGeoCirclePlane :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoCirclePlane; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    fEndPosX: LREAL;
    fEndPosY: LREAL;
    fEndPosZ: LREAL;
    fCenterX: LREAL;
    fCenterY: LREAL;
    fCenterZ: LREAL;
    fEndPosQ1: LREAL;
    fEndPosQ2: LREAL;
    fEndPosQ3: LREAL;
    fEndPosQ4: LREAL;
    fEndPosQ5: LREAL;
    fVelo: LREAL;
    bClockwise: BOOL;
    bAccurateStop: BOOL; (* VeloEnd := 0 *)
    nPlane: E_NciGeoPlane := E_NciGeoPlaneXY;
END_STRUCT
END_TYPE

Describes a circle in the principal plane. The center point is specified in absolute coordinates.

From TC2.11 R3 B2243 (TcPlcInterpolation.lib V1.1.39) The orthogonal component at the center is assigned internally. If a circle is programmed in the XY plane, for example, ,fCenterZ‘ is assigned internally. If the user has assigned the value explicitly, the value is nevertheless overwritten by the FB. A helix can be described by programming the height. If helix is programmed in the XY plane, for example, the lifting height of the helix is specified absolutely with ‚fEndPosZ‘.

Circle segment as start segment If the first geometry segment is a circle, the start position has to be set with ST_NciGeoStart.

TYPE E_NciGeoPlane :
(
    E_NciGeoPlaneXY := 17,
    E_NciGeoPlaneZX := 18,
    E_NciGeoPlaneYZ := 19
);
END_TYPE

ST_NciGeoCircleCIP

from library version 1.1.34

TYPE ST_NciGeoCircleCIP :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoCircleCIP;    (* do not overwrite this parameter *)
    nDisplayIndex: UDINT;
    fEndPosX:      LREAL;
    fEndPosY:      LREAL;
    fEndPosZ:      LREAL;
    fCIPPosX:      LREAL;
    fCIPPosY:      LREAL;
    fCIPPosZ:      LREAL;
    fEndPosQ1:     LREAL;
    fEndPosQ2:     LREAL;
    fEndPosQ3:     LREAL;
    fEndPosQ4:     LREAL;
    fEndPosQ5:     LREAL;
    fVelo:         LREAL;
    bAccurateStop: BOOL;    (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

The CIP circle can be used to describe a circle anywhere in space. It does not have to be in the main plane. In order for the circle to be described unambiguously, not all 3 points (the starting point is specified implicitly) may lie on straight line. It is thus not possible to program a complete circle in this way.

Circle segment as start segment If the first geometry segment is a circle, the starting position has to be set with ST_NciGeoStart.

ST_NciGeoBezier3

TYPE ST_NciGeoBezier3:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoBezier3; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    fControlPoint1X: LREAL;
    fControlPoint1Y: LREAL;
    fControlPoint1Z: LREAL;
    fControlPoint2X: LREAL;
    fControlPoint2Y: LREAL;
    fControlPoint2Z: LREAL;
    fEndPosX: LREAL;
    fEndPosY: LREAL;
    fEndPosZ: LREAL;
    fEndPosQ1: LREAL;
    fEndPosQ2: LREAL;
    fEndPosQ3: LREAL;
    fEndPosQ4: LREAL;
    fEndPosQ5: LREAL;
    fVelo: LREAL;
    bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

Describes a third order Bezier with the aid of control points. The start position results from the previous segment. The third control point is determined by the target position.

ST_NciGeoBezier5

from library version 1.1.31

TYPE ST_NciGeoBezier5:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeGeoBezier5; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    fControlPoint1X: LREAL;
    fControlPoint1Y: LREAL;
    fControlPoint1Z: LREAL;
    fControlPoint2X: LREAL;
    fControlPoint2Y: LREAL;
    fControlPoint2Z: LREAL;
    fControlPoint3X: LREAL;
    fControlPoint3Y: LREAL;
    fControlPoint3Z: LREAL;
    fControlPoint4X: LREAL;
    fControlPoint4Y: LREAL;
    fControlPoint4Z: LREAL;
    fEndPosX: LREAL;
    fEndPosY: LREAL;
    fEndPosZ: LREAL;
    fEndPosQ1: LREAL;
    fEndPosQ2: LREAL;
    fEndPosQ3: LREAL;
    fEndPosQ4: LREAL;
    fEndPosQ5: LREAL;
    fVelo: LREAL;
    bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

Describes a 5^th order Bezier with the aid of control points. The starting position results from the previous segment. The fifth control point is determined by the target position.

ST_NciMFuncHsk

TYPE ST_NciMFuncHsk :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeMFuncHsk; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nMFunc: INT;
END_STRUCT
END_TYPE

Describes an M-function of type handshake. The M-function number is between 0 and 159

M-functions in the PlcInterpolation library If M-functions are used in the PlcInterpolation library, they do not have to be entered in the user interface of the System Manager. An M-function always takes effect at the programmed location.

ST_NciMFuncFast

TYPE ST_NciMFuncFast :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeMFuncFast; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nMFuncIn0: INT;
    nMFuncIn1: INT;
    nMFuncIn2: INT;
    nMFuncIn3: INT;
    nMFuncIn4: INT;
    nMFuncIn5: INT;
    nMFuncIn6: INT;
    nMFuncIn7: INT;
END_STRUCT
END_TYPE

Parameterizes up to 8 fast M-functions. The first M-function must be assigned nMFuncIn0, the second nMFuncIn1 etc. -1 indicates the end of the assignments.

M-functions in the PlcInterpolation library If M-functions are used in the PlcInterpolation library, they do not have to be entered in the user interface of the System Manager. An M-function always takes effect at the programmed location.

ST_NciMFuncResetAllFast

TYPE ST_NciMFuncResetAllFast :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeMFuncResetAllFast; (*do not override this parameter *)
    nDisplayIndex: UDINT;
END_STRUCT
END_TYPE

Resets all fast M-functions.

ST_NciHParam

TYPE ST_NciHParam :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeHParam; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nHParam: UDINT;
END_STRUCT
END_TYPE 

Sets an H-parameter in the cyclic channel interface.

ST_NciSParam

TYPE ST_NciSParam :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeSParam; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nSParam: UINT;
END_STRUCT
END_TYPE

Sets an S-parameter in the cyclic channel interface.

ST_NciTParam

TYPE ST_NciTParam :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeTParam; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nTParam: UINT;
END_STRUCT
END_TYPE

Sets an T-parameter in the cyclic channel interface.

ST_NciDynOvr

TYPE ST_NciDynOvr :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeDynOvr; (*do not override this parameter*)
    nDisplayIndex: UDINT;
    fDynOvr: LREAL;
END_STRUCT
END_TYPE 

Modal functions for changing the path dynamics.

See DynOvr in the interpreter documentation.

ST_NciVertexSmoothing

since library Build 11

TYPE ST_NciVertexSmoothing :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeVertexSmoothing; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    nType: UDINT; (*type of smoothing, e.g. parabola, bi-quad *)
    nSubtype: UDINT; (*e.g. adaptive, constant radius *)
    fRadius: LREAL; (*max. radius for tolerance ball *)
END_STRUCT
END_TYPE

Modal function for activating blending at the segment transition. Blending is active until it is cancelled by setting the radius to 0.

A more detailed description of the parameter can be found in the interpreter documentation (paramVertexSmoothing).

ST_NciBaseFrame

since library Build 21

TYPE ST_NciBaseFrame:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeBaseFrame; (*Do not override this parameter *)
    nDisplayIndex: UDINT;
    fShfitX: LREAL;
    fShiftY: LREAL;
    fShiftZ: LREAL;
    fRotX: LREAL;
    fRotY: LREAL;
    fRotZ: LREAL;
    fShiftQ1: LREAL;
    fShiftQ2: LREAL;
    fShiftQ3: LREAL;
    fShiftQ4: LREAL;
    fShiftQ5: LREAL;
END_STRUCT
END_TYPE 

The structure ST_NciBaseFrame describes a modal zero shift and rotation. The operating principle is the same as for zero shift and rotation in the interpreter, i.e. the point of rotation is the current origin (see rotation in the interpreter documentation)

ST_NciPathDynamics

Since library Build 22

TYPE ST_NciPathDynamics:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypePathDynamics; (*do not override this parameter *)
    nDisplayIndex: UDINT;
    fAcc: LREAL;
    fDec: LREAL;
    fJerk: LREAL;
END_STRUCT
END_TYPE

The structure ST_NciPathDynamics sets the path dynamics (acceleration, deceleration, jerk). The operating principle is the same as for paramPathDynamics in the interpreter (see paramPathDynamics in the interpreter documentation)

ST_NciAxisDynamics

Since library Build 30

TYPE ST_NciAxisDynamics:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeAxisDynamics; (*Do not override this parameter*)
    nDisplayIndex: UDINT;
    nAxis: UDINT;
    fAcc: LREAL;
    fDec: LREAL;
    fJerk: LREAL;
END_STRUCT
END_TYPE

The structure ST_NciAxisDynamics sets the path axis dynamics (acceleration, deceleration, jerk). The operating principle is the same as for paramAxisDynamics in the interpreter (see paramAxisDynamics in the interpreter documentation)

ST_NciDwellTime

Since library Build 30

TYPE ST_NciDwellTime:
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeDwellTime; (*Do not override this parameter *)
    nDisplayIndex: UDINT;
    fDwellTime: LREAL;
END_STRUCT
END_TYPE

The structure ST_NciDwellTime is used to activate a dwell time in seconds (see dwell time in the interpreter documentation)

ST_NciTangentialFollowingDesc

TYPE ST_NciTangentialFollowingDesc :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeTfDesc; (*do not override this parameter *)
    bTangOn: BOOL;
    nTangAxis: E_NciAxesInGroup; (*axis used for tangential following *)
    nPathAxis1: E_NciAxesInGroup; (*describing the plane e.g. x*)
    nPathAxis2: E_NciAxesInGroup; (*e.g. y ==> g17, xy plane*)
    fOffset: LREAL; (*geo tangent is 0 degree, counting is mathmatical positive *)
    fCriticalAngle1: LREAL;
    nTfBehavior: E_TangentialFollowingBehavior; (*what to do if angle becomes bigger than critical angle 1 *)
END_STRUCT
END_TYPE 

This is a modal command for switching tangential following on or off.

TYPE E_NciAxesInGroup :
(
    NoneAxis := 0,
    XAxis,
    YAxis,
    ZAxis,
    Q1Axis,
    Q2Axis,
    Q3Axis,
    Q4Axis,
    Q5Axis
);
END_TYPE

TYPE E_TangentialFollowingBehavior :
(
    E_TfIngoreAll, (*ignore critical angle *)
    E_TfErrorOnCritical1 (*if angle becomes bigger than critical angle 1 ==> error *)
);
END_TYPE

ST_NciEndOfTables

TYPE ST_NciEndOfTables :
STRUCT
    nEntryType: E_NciEntryType := E_NciEntryTypeEndOfTables; (*do not override this parameter *)
END_STRUCT
END_TYPE 

Indicates the last entry of the last table. Is used for signaling the bChannelDone flag in FB_NciFeedTable.