Overview

The TcMC2 TwinCAT motion control PLC library includes function blocks for programming machine applications and represents a further development of the TcMC library. TcMC2 is based on the revised PLCopen specification for motion control function blocks V2.0 (www.PLCopen.org).

Overview 1:

Compatibility

The TcMC2 motion control library contains enhanced and new functions. The function blocks are better adapted to the requirements of the PLCopen specification and are not compatible with the first version (TCMC). Users who maintain existing projects are recommended to continue working in these projects with the classic TcMC. TcMC2 should be used for new projects or for the revision of existing projects.

Main new features

A key feature of TcMC2 compared with TcMC is the so-called buffer mode. Buffer mode enables Move commands to be queued in order to achieve a continuous positioning without intermediate stops. It enables transition of two travel commands with a defined velocity at a certain position.

Move commands can be followed by further Move commands during execution. This makes adaptation of target position or travel speed during the movement much easier.

TwinCAT Version

The TcMC2 library can be used with TwinCAT version 2.10 Build 1340 or higher. With remote programmed controllers care must be taken that an appropriate version is installed on both the programmer PC and the control PC. In the case of control systems with the operating system Windows CE, the version of the installed image is decisive. A Windows CE image with version 3.08 or higher is required here.