User defined structures

Hello Delta-Tau users!

I have started looking through some of the PMAC manuals, and I saw in the 5 day training manual document that it says that the user can't define their own data structures. We will have some complicated processes in the robot system my team is designing, and we'd like the flexibility to design our own data structures and algorithms. Does this only apply if we are using the PACScript setup? Can you mix and match PACScript functions and C/C++ functions on the controller?

Does anyone have any experience with using their own data structures on the PMAC?

Thanks in advance

Structures in script are limited to the built-in ones – these are not re-definable. You can define structures in C and there is a real-time routine available called “CfromScript” that allows a C-function to be called from PMAC script programs with arguments. This is described in the “Power PMAC User’s Manual” in the section “CfromScript Function” starting on page 802:

"http://forums.deltatau.com/filedepot/download.php?f=Power PMAC/Manuals/Power PMAC Users Manual.pdf"

It would also be possible to create static structures in C and assign them “User Buffer” address locations.

You can contact our Technical Support Group for further details if needed at:

support AT deltatau DOT com or +1 818-717-5656