Creating motion axes with "Constrain"
In the procedure described below, the constraint of the movable part is set with the "Constrain" function and thus the parameter is created.
![]() | For the simulation, it does not matter which units are set in the assemblies. The motion axis and displacement sensor units are set in TwinCAT. |
- The part must be able to be rotated or displaced in the desired direction of movement.
- 1. Click the Constrain function.
- 2. Create a parameter by selecting one of the following constraint types:
Mate for translatory motion – with Mate and Flush modes
Angle for rotational motion – with Directed Angle, Undirected Angle, and Explicit Reference Vector modes. - 3. In this example, select Flush.
- 4. Select the reference edge or plane on the part to be moved (purple).
- 5. Select the reference edge or plane on the part that the part (blue) will move in relation to.
- After placing the constraint, the parameter is added to the constrained parts in the model tree as a constraint.
- A parameter representing the constraint is appended to the parameter list.
- 6. Rename the parameter by double-clicking the name so that you can find it more easily for linking.
- A parameter representing the constraint is appended to the parameter list.
- 7. If necessary, configure the TwinCAT 3 Interface for Inventor® before initializing the runtime.
- 8. Initialize the runtime from Autodesk® Inventor® or use the ScanIO function in your TwinCAT project.
- 9. Link the I/O master inputs to the relevant inputs in the PLC project. Link the individual I/O master outputs with an output of an NC axis or a suitable output in the PLC project.
See chapter I/O master set up in TwinCAT. - 10. Activate the TwinCAT project.
- The query asking whether the TwinCAT system should be started in Run Mode appears.
- 11. Confirm with OK.
- The simulation is activated, but is in the pause state.
- 12. To trigger the runtime, click the Continue button in the TE1130 Inventor® add-in.
- The simulation is active and the TwinCAT project is triggered by the Usermode Runtime.