CfgBuildExt3DGroup

This function block configures a 3D group with up to 3 path axes (X, Y and Z). Additionally, up to 5 auxiliary axes (Q1..Q5) can be configured.

The axis IDs of the PTP axes that are to be included in the interpolation group are applied at the inputs nXAxisId to nQ5AxisId.

Notice The assignment of the auxiliary axes must start with nQ1AxisId. No gaps between auxiliary axes are permitted. For example, if nQ3AxisId is to be assigned, nQ2AxisId must also be assigned a valid Axis ID.

VAR_INPUT

VAR_INPUT
    bExecute       : BOOL;
    nGroupId       : UDINT;
    nXAxisId       : UDINT;
    nYAxisId       : UDINT;
    nZAxisId       : UDINT;
    nQ1AxisId      : UDINT;
    nQ2AxisId      : UDINT;
    nQ3AxisId      : UDINT;
    nQ4AxisId      : UDINT;
    nQ5AxisId      : UDINT;
    tTimeOut       : TIME;
END_VAR

bExecute: The command is executed when a positive edge is encountered.

nGroupId: ID of the 3D group

nXAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nYAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nZAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ1AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ2AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ3AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ4AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ5AxisId: Axis IDs of the PTP axes to be included in the interpolation group

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT

VAR_OUTPUT
    bBusy     : BOOL;
    bErr      : BOOL;
    nErrId    : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error documentation or in the NC error documentation (error codes above 0x4000).

Requirements

Development environment	Target platform	PLC libraries to be linked
TwinCAT v3.1.0	PC or CX (x86 or x64)	Tc2_NCI