PLC Library: Tc2_PlcInterpolation

The Tc2_PlcInterpolation library offers an alternative to the application of G-Code (DIN 66025). This library can be used to execute interpolated movement commands directly from the PLC, without using G-Code.

	Alternative for Pick-and-Place Applications TF5420 TwinCAT 3 Motion Pick-and-Place executes multi-dimensional motions. It was specially developed for the requirements of pick-and-place applications and is an alternative to the Tc2_PlcInterpolation library for this use case. The Tc3_McCoordinatedMotion library contains all associated function blocks.

In a first step a table of different movement commands and additional functions is written. To this end structures such as ST_NciGeoLine are transferred to the FB NciFeedTablePreparation. This appends the movement command to the table. Once the table is full or all required entries have been added, NciFeedTable is called in order to transfer the table content to the NC kernel. The data transfer directly starts the execution.

NciMaxTableEntries can be edited

From library version 3.3.16.0 (included from TC3.1.4024.11) the maximum number of table entries can be edited in the range from 10 to 32767. The default value is 100 entries.

Function blocks

Function blocks that are required for grouping of axes (or for channel control (channel override) can be found in the PLC Library: Tc2_NCI.

Function Block	Description
FB_NciFeedTablePreparation	Fills a table with NCI movements in the PLC
FB_NciFeedTable	Transfers a previously written table to the NC kernel and starts the motion

Data structures

The following structures can be used as input parameters for the function block NciFeedTablePreparation:

Structures	Enum	Description
Organization
	E_NciEntryTypeNone	No function
ST_NciGeoStart	E_NciEntryTypeGeoStart	Sets the start position for the first geometry entry
ST_NciEndOfTables	E_NciEntryTypeEndOfTables	Indicates the end of the geometry table
Movement commands
ST_NciGeoLine	E_NciEntryTypeGeoLine	Describes a straight line
ST_NciGeoCirclePlane	E_NciEntryTypeGeoCirclePlane	Describes a circle in the main plane (center point programming)
ST_NciGeoCircleCIP	E_NciEntryTypeGeoCircleCIP	Describes a circle anywhere in the space
ST_NciGeoBezier3	E_NciEntryTypeGeoBezier3	Describes a 3rd order Bezier with control points
ST_NciGeoBezier5	E_NciEntryTypeGeoBezier5	Describes a 5th order Bezier with control points
ST_NciDwellTime	E_NciEntryTypeDwellTime	Describes a dwell time
Path parameters
ST_NciBaseFrame	E_NciEntryTypeBaseFrame	Describes a zero shift and rotation
ST_NciVertexSmoothing	E_NciEntryTypeVertexSmoothing	Activates blending at segment transitions
ST_NciTangentialFollowingDesc	E_NciEntryTypeTfDesc	Activates tangential following of the tool
Dynamics
ST_NciDynOvr	E_NciEntryTypeDynOvr	Modifies the dynamic override
ST_NciAxisDynamics	E_NciEntryTypeAxisDynamics	Limits the axis dynamics
ST_NciPathDynamics	E_NciEntryTypePathDynamics	Limits the path dynamics
ST_NciFeedrateIpol	E_NciEntryTypeFeedrateIpol	Sets the feed interpolation type
Parameter commands
ST_NciHParam	E_NciEntryTypeHParam	Sets an H-parameter (DINT)
ST_NciSParam	E_NciEntryTypeSParam	Sets an S-parameter (WORD)
ST_NciTParam	E_NciEntryTypeTParam	Sets a T-parameter (WORD)
ST_NciMFuncFast	E_NciEntryTypeMFuncFast	Parameterizes a fast M-function (no handshake)
ST_NciMFuncHsk	E_NciEntryTypeMFuncHsk	Parameterizes an M-function with handshake
ST_NciMFuncResetAllFast	E_NciEntryTypeResetAllFast	Resets all fast M-functions

Requirements

Development environment	Target platform	PLC libraries to be linked
TwinCAT v3.1.0	PC or CX (x86 or x64)	Tc2_PlcInterpolation

Further Information