MC_MoveLinearAbsolutePreparation
TF5410 | TF5420 | |
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| MC Group with Pick-and-Place | MC Group Coordinated Motion |
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The function block adds an absolute linear movement to the table of segments in the PathData structure. After creating a table, it can be executed via MC_MovePath. The function block MC_MoveLinearAbsolutePreparation can be called several times per cycle. A maximum of 30 entries are allowed per PathData table.
VAR_INPUT
VAR_INPUT
Position : POINTER TO LREAL;
PositionCount : UDINT;
Velocity : MC_LREAL := MC_INVALID;
Acceleration : MC_LREAL := MC_DEFAULT;
Deceleration : MC_LREAL := MC_DEFAULT;
Jerk : MC_LREAL := MC_DEFAULT;
BufferMode : MC_BUFFER_MODE := mcAborting;
TransitionMode : MC_TRANSITION_MODE := mcTransModeNone;
TransitionParameter : POINTER TO LREAL;
TransitionParameterCount : UDINT;
InvokeId : UDINT;
DynamicConstraints : REFERENCE TO IPlcDynamicConstraint := 0;
END_VAR
Name | Type | Description |
|---|---|---|
Position | POINTER TO LREAL | Pointer to an array [1..PositionCount] of the target position vector. |
PositionCount | UDINT | Dimension of the position vector. Must match the number of axes in the axis convention (see MC Group Coordinated Motion or MC Group with Pick-and-Place). |
Velocity | MC_LREAL | The maximum velocity for the programmed segment. The velocity does not always have to be reached. The velocity must be set >0. |
Acceleration | MC_LREAL | Maximum path acceleration for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The acceleration must be set ≥1. |
Deceleration | MC_LREAL | Maximum path deceleration for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The deceleration must be set ≥1. |
Jerk | MC_LREAL | Path jerk for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. The jerk must be set ≥100. |
BufferMode | MC_BUFFER_MODE | Defines how successive motion commands are to be processed (see MC_BUFFER_MODE). |
Transition mode | MC_TRANSITION_MODE | Defines the blending mode (see MC_TRANSITION_MODE). |
TransitionParameter | POINTER TO LREAL | Pointer to array [1..TransitionParameterCount] of blending parameters. Transition parameters define the blending from the last programmed position (see MC_TRANSITION_MODE). |
TransitionParameterCount | UDINT | Number of blending parameters (see MC_TRANSITION_MODE). |
InvokeId | UDINT | Segment ID for analysis purposes. |
DynamicConstraints | REFERENCE TO IPlcDynamicConstraint | From TF5400 V3.2.27, MC Group Coordinated Motion: |
VAR_IN_OUT
VAR_IN_OUT
PathData : MC_PATH_DATA_REF;
END_VAR
Name | Type | Description |
|---|---|---|
PathData | MC_PATH_DATA_REF | Table containing the segments of a path. The table is written by MC_Move…Preparation and executed by MC_MovePath (see MC_PATH_DATA_REF). |
 | Resetting a table A table is not reset during execution. To reset, the method |
VAR_OUTPUT
VAR_OUTPUT
Error : BOOL;
ErrorId : UDINT;
END_VAR
Name | Type | Description |
|---|---|---|
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 V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x86 or x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |