Appendix B 06/2005 Danaher Motion
188 Rev E M-SS-005-03
Group Point Properties
Following modal-only and read-only group properties of the point data-type exist:
DEST DEST_JOINT Target point of the movement.
START START_JOINT Starting point of the movement.
HERE POSITIONFEEDBACK or PFB Actual point of the robot (feedback).
SETPOINT POSITIONCOMMAND or PCMD Actual point of the robot (group).
SINGLE ELEMENT ASSIGNMENT
Syntax for assigning a single element of a structure:
<variable_name>-><structure element> =<expression>
In Functions
Structures can be passed to functions and subroutines both by reference and by value. Also,
an entire array of structures can be passed (by reference) to a function or subroutine.
Structures can also serve as returned values of functions. However, the structure type of an
argument or a returned value must match function declaration.
Dim Shared ARG1 As Type_1
Dim Shared ARR_ARG[4][5] As Type_1
Dim Shared ARG2 As Type_2
FUNCTION MyStructFunc(BYVAL Par1 AS Type_1, Par2 AS Type_2) AS Type_1
…
MyStructFunc = Par2 -> Error - structure type mismatch
MyStructFunc = Par1 -> Structure types match
END FUNCTION
SUB MySub(Arr_Par[*][*] AS Type_1)
…
END SUB
ARR_ARG[2][3] = MyStructFunc(ARG1, ARG2) -> Structure types match
ARR_ARG[2][3] = MyStructFunc(ARG1, ARG1) -> Error - structure type
mismatch
CALL MySub(ARR_ARG)
or
Common Shared ST As STRUCT
Common Shared LongVar As Long
FUNCTION MyFunc(BYVAL Par1 AS LONG, Par2 AS LONG) AS STRUCT
…
MyFunc->LongElm2 = 10
MyFunc->JointElm = {12.3, 5, 43.29}
END FUNCTION
FUNCTION NoParamFunc AS STRUCT
…
END FUNCTION
ST = MyFunc(ST->LongElm1, LongVar)
ST = MyFunc(ST->LongElm1, ST->LongElm2)
-> Error – structure element passed by reference
? MyFunc(ST->LongElm1, LongVar)->LongElm2
-> Error – addressed through function call
LongVar = NoParamFunc->LongElm2
-> Error – addressed through function call
