Introduction

TwinCAT 3 Motion Collision Avoidance is an optional package for collision avoidance when operating multiple axes with TwinCAT 3 NC PTP in linear and/or translational dependency. The underlying algorithm ensures a minimum distance to the predecessor axis. This means that active collision avoidance can be implemented with TwinCAT 3 Motion Collision Avoidance if several motors share a rail, for example. In addition to active collision avoidance, the TF5410 can also be used to accumulate axes in a controlled manner, for example in linear movements such as the XTS (eXtended Transport System).

The programming of the positioning commands from the PLC is done via the library Tc3_McCollisionAvoidance, which is based on the library Tc2_MC2 and has been extended by the "Gap" input. With TwinCAT 3 Motion Collision Avoidance, for example, all axes can be started to the same target position. The algorithm then ensures that only the first axis moves to the target position. The remaining axes automatically maintain their minimum distance and line up. In this way, dynamic buffers can be created to accumulate products without further programming.
The administrative function blocks are contained in the library Tc3_McCoordinatedMotion.

In addition, TF5410 contains a geo-compensation for the XTS, with which the reference point of the path dynamics can be shifted from the XTS motor path to the center of mass of the tool/product on the XTS mover. In curve segments, the two path dynamics differ, so that unexpected forces can act without geo-compensation. The library Tc3_McCompensations is available in the PLC for this purpose.

Installation

The TF5410 TwinCAT 3 Motion Collision Avoidance software package is installed together with the TF5400 software package.

Target System

Windows XP or Windows 7/8/10 platform level 40 or higher

Additional licensing requirements

TF5410 TwinCAT 3 Motion Collision Avoidance requires the TC1250 license.