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 "GapControlMode" FB input, which is present in all motion function blocks in Tc3_McCollisionAvoidance.

Name

Type

Description

mcGapControlModeGroupDefault

UDINT

This value indicates that the GapControlMode set 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 system type

PLC libraries to be linked

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x86 or x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2