CA Group (TF5410 TwinCAT 3 Collision Avoidance)
The CA group links axes to add collision avoidance to the PTP functionalities.
Dynamic values
- Velocity Vel: Velocity,
- Acceleration Acc: Positive acceleration,
- Deceleration Dec: Braking acceleration, negative acceleration,
- Jerk: Jerk.
Set values
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CA Group
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Axis
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Gap
Neighborhood
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Counting direction
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Successor;
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Size
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Lower
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Gap Control
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Gap Control
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Open the dialog "Parameter (Init)"
Root node of a CA group.
Parameters for a CA group.
The table column "Value" shows the preset parameter value. The table column "Comment" contains brief parameter descriptions.
Name | Comment |
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Geometry |
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Rail Length | Length of Rail Length of the rail on which the axes (movers) are mounted. |
Rail Is Ring | Specifies that the rail is closed, i.e. in loop shape or the last mover is in front of first one If TRUE, Collision Avoidance is enabled between the first mover in the line and the last mover. |
Gap Control |
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Default Gap Control Mode | Specifies the default gap control mode Different modes are available for distance control (see "MC_DEFAULT_GAP_CONTROL_MODE"). |
Gap Control Direction | Specifies the direction in which the gap control acts. Various settings are available for the control direction of the Gap (see section "MC_GAP_CONTROL_DIRECTION“). |
Standby Gap Control | Specifies whether the collision avoidance is active when no FB is active. If TRUE, Collision Avoidance is always active, even if no motion command was issued to the axis. |
Default Gap | Size of Gap between Movers when it is not specified in Motion Command. This distance is used for Standby Gap Control and when no distance has been specified for a CA motion command. |
Default Velocity | Velocity used for gap control if no Motion Command is active (e.g. directly after GroupEnable). This velocity is used for Standby Gap Control. It is not used as the default velocity for a motion command if no velocity has been set. |
Default Acceleration | Acceleration used for gap control if no Motion Command is active (e.g. directly after GroupEnable). This acceleration is used for Standby Gap Control. It is not used as the default acceleration for a motion command if no acceleration has been specified. |
Default Deceleration | Deceleration used for gap control if no Motion Command is active (e.g. directly after GroupEnable). This deceleration is used for Standby Gap Control. It is not used as the default deceleration for a motion command if no deceleration has been set. |
Default Jerk | Jerk used for gap control if no Motion Command is active (e.g. directly after GroupEnable). This jerk is used for Standby Gap Control. It is not used as the default jerk for a motion command if no jerk is specified. |
GearInPosDefaultDynamicsAfterSync (hidden!) | Specifies the default dynamics used in MC_GearInPosCA AfterSyncDynamics. In the default state, the value "JobDynamics" is set. The parameter is not available for older projects (created with versions < 3.1.10), but is internally set to 'MaximumSlaveDynamics'. |
After reloading the TMC file "JobDynamics" is set as default value (see MC_GearInPosDefaultDynamicsAfterSync). |
- If an NC configuration has already been added, the MOTION subtree contains an SAF task subtree.
- The SAF task subtree contains the "Objects" subtree.
- The "Objects" subtree can contain a CA group.
- 1. Double-click the root node of the CA group whose parameters you want to view or set.
- 2. Select the "Parameters (Init)" tab.
- The "Parameter (Init)" dialog opens.
- It contains a table with parameters for the selected CA group.
- These parameters are divided into the groups "Geometry", "Gap Control" and "„Misc.", if applicable.