MC_RegisterCompensation

Reference to a mover template: An axis refers to a mover template via the function block MC_RegisterCompensation.

Inputs

VAR_INPUT
    Execute          : BOOL;
    CompensationType : MC_COMPENSATION_TYPE;
    CompensationId   : OTCID;
END_VAR

Name	Type	Description
Execute	BOOL	This function block activates the selected compensation type when a rising edge is triggered at its `Execute` input. When activated, the geometry information for geo-compensation is taken into account by the Motion function blocks that refer to `Axis`.
CompensationType	MC_COMPENSATION_TYPE	Select `mcTypeGeoCompensation` for geo-compensation (see MC_COMPENSATION_TYPE).
CompensationId	OTCID	This input `CompensationId` is of type `OTCID` and can therefore refer to a mover template. The reference to the geometry information required for geo-compensation is made via the object ID `CompensationId`, which refers to a mover template.

VAR_IN_OUT
    Axis  : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	The input Axis is of type AXIS_REF and refers to an axis, e.g. to a mover.

VAR_OUTPUT
    Done    : BOOL;
    Busy    : BOOL;
    Error   : BOOL;
    ErrorId : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	This output becomes `TRUE` when the command was successfully executed.
Busy	BOOL	This output becomes `TRUE` when the command is started with `Execute` and remains so as long as the function block executes the command. If `Busy` becomes `FALSE` again, the function block is ready for a new command. At the same time, one of the outputs `Done` or `Error` is set.
Error	BOOL	This output becomes `TRUE` if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command.

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4022.25 TF5400 Advanced Motion Pack V3.1.6.03	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2