MC_GAP_CONTROL_MODE

The MC_GAP_CONTROL_MODE data type can be used to specify the Gap Control Mode at the function block level.

TYPE MC_GAP_CONTROL_MODE :
(
    mcGapControlModeGroupDefault := 16#0,
    mcGapControlModeStandard := 16#1,
    mcGapControlModeFast := 16#2
    mcGapControlModeNone := 16#3
) UDINT;
END_TYPE

This data type can only be used at the FB input “GapControlMode”, which exists at all Motion function blocks in Tc3_McCollisionAvoidance.

Name	Type	Description
mcGapControlModeGroupDefault	UDINT	This value indicates that the GapControlMode which was specified in the group parameters should be used for this motion command.
mcGapControlModeStandard	UDINT	See the description for MC_DEFAULT_GAP_CONTROL_MODE.
mcGapControlModeFast	UDINT	See the description for MC_DEFAULT_GAP_CONTROL_MODE.
mcGapControlModeNone	UDINT	This value indicates that the Gap Control is not active in the command. After the command, the Standby Gap Control takes effect again with the mode, which is set in the group and the gap size of the last valid command.

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2