MC_SetCoordinateTransform

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion

Enables the coordinate transformation for subsequent movements. Success is indicated by Active OR Done.

Decouples subsequent movements from a conveyor (see MC_TrackConveyorBelt).

Subsequent movements (e.g.: MC_MovePath) are made relative to the coordinate transformation.

	Use case for changing the reference system The `MC` group can be decoupled by using `MC_SetCoordinateTransform` and changing the reference system.

VAR_INPUT

VAR_INPUT
    Execute        : BOOL;
    CoordTransform : MC_COORD_REF;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
CoordTransform	MC_COORD_REF	Reference to a coordinate system (see MC_COORD_REF).

VAR_IN_OUT

VAR_IN_OUT
    AxesGroup      : AXES_GROUP_REF;
END_VAR

Name	Type	Description
AxesGroup	AXES_GROUP_REF	Reference to a group of axes (see Cyclic Group Interface).

VAR_OUTPUT

VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : 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`, `CommandAborted` or `Error` is set.
Active	BOOL	`Active` indicates the command is being executed. `Active` indicates the new Coordinate Transformation is set successfully. (MC Coordinated Motion Group only) `Active` indicates a Deceleration from Conveyor Tracking. (MC Coordinated Motion Group only) `Active` becomes `FALSE` when one of the outputs `Done`, `CommandAborted` or `Error` is set. Note: As per PLCOpen when `Done`, `Active` is reset. In the case of negligible or no deceleration, `Active` can be `TRUE` for only a negligible period of time. When detecting Active from a PLC program it is therefore prudent to check (`Active` OR `Done`).
CommandAborted	BOOL	This output becomes `TRUE` if the command was interrupted by another command.
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. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development Environment	Target System Type	PLC Libraries to be Linked
TwinCAT V3.1.4022.25 TF5400 Advanced Motion Pack V3.1.6.03	PC or CX (x86 or x64)	Tc3_McCoordinatedMotion, Tc2_MC2