ABB Specific Data Structures

Not all data structures are defined by PLCopen. Some specific structures are described in the following chapter.

• Data Structures to be Used for MCS-PCS Transformation
• Data Structures to be Used for Moving the Group on a Path
  • MC_PATH_REF
  • MC_PATH_POINT
  • MC_PATH_DATA_REF
• Example for Using the Path Data
• Interpolation Modes available for MC_MovePath