MC-Basic:robot.PASSBACKWARD
Describes if the given array is passed in forward or backward directionReturns the total number of points being processed (waiting and engaged in the interpolation).Defines the lower value of the buffer size that triggers the re-calculation.Defines the minimum number of points needed to be provided in order for AI to start motion.Defines the maximum number of points needed to be provided in order for AI to start motion.Defines the total number of points that used in AI algorithm. The buffer includes both points being interpolated (used in currently executing motion) and those waiting to be processed.From which point in the array the interpolation begins (actually what is the next point after the initial start position).
Syntax
PassBackward?PassBufferLevel?PassBufferLowPassBufferMinPassBufferMaxPassBufferSizePassFrom
Availability
Versions 4.2.x and higherVersions 4.2.x and higherVersions 4.2.x and higherVersions 4.2.x and higherVersions 4.2.x and higher
Type
LongLongLongLongLongLongLong
Range
Backward – 1
Forward – 01-1001-1001-100 but not greater than PassBufferSize1-100 but not greater than PassBufferSize1-1001 to arraysize(a)-2
Default
1515101
Scope
Task or TerminalTask or TerminalTask or TerminalTask or TerminalTask or TerminalTask or TerminalTask or Terminal
Limitations
Nodal – Only Valid for robots only. Can not be set while the motion is executing.Modal – Only Read- Only Valid for robots only..Valid for robots only..Modal – Only Valid for robots only. Can not be set while the motion is executing.
Note that the sequence (First: PassBufferSize, Second: OassBufferMin, Third: PassBufferMax) of assignments of Min/Max values of the Pass Buffer must be followed, otherwise an error could be returned as the Min/Max values could be not in accordance with the given buffer size.Modal – Only Valid for robots only. Can not be set while the motion is executing.
Note that the sequence (First: PassBufferSize, Second: OassBufferMin, Third: PassBufferMax) of assignments of Min/Max values of the Pass Buffer must be followed, otherwise an error could be returned as the Min/Max values could be not in accordance with the given buffer size.Modal – Only Valid for robots only. Can not be set while the motion is executing.Nodal/Nodal – Only Valid for robots only. Can not be set while the motion is executing.
Examples
Dim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5 PassBackward = 0Dim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5 PassBackward = 0?RobotScara.PassBufferLowDim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5 PassBackward = 0Dim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5 PassBackward = 0Dim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5 PassBackward = 0Dim a[5] as location of xyzr
Pass nodes=a Passfrom = 2 PassUpTo=5