MC_MovePath

MC_MovePath 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_MovePath 2:

MC_MovePath 3:

MC_MovePath 4:

The MC_MovePath function block executes a movement defined in the PathData table by MC_MoveLinearAbsolutePreparation and MC_MoveCircularAbsolutePreparation.

MC_MovePath 5:

Re-triggering of an FB instance during motion

It is possible to execute different motion commands with one instance of this function block. However, the outputs of the function block only indicate the last command executed. The user loses the ability to diagnose for the previously sent motion commands. Re-triggering of a function block is therefore not recommended.

MC_MovePath 6: VAR_INPUT

VAR_INPUT
    Execute               : BOOL;
END_VAR

Name

Type

Description

Execute

BOOL

The command is triggered by a rising edge at this input.

MC_MovePath 7: MC_MovePath 8: VAR_IN_OUT

VAR_IN_OUT
    AxesGroup             : AXES_GROUP_REF;
    PathData              : MC_PATH_DATA_REF;
END_VAR

Name

Type

Description

AxesGroup

AXES_GROUP_REF

Reference to a group of axes (see Cyclic group interface).

PathData

MC_PATH_DATA_REF

Table containing the segments of a path. The table is written by MC_MoveLinearAbsolutePreparation and MC_MoveCircularAbsolutePreparation and executed by MC_MovePath (see MC_PATH_DATA_REF).

MC_MovePath 9: 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. This means that the last command defined by the reference variable PathData was executed successfully.

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 (if available) or Error is set.

Active

BOOL

If Active is TRUE, the FB controls the axis.

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 V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x86 or x64)

Tc3_McCoordinatedMotion, Tc2_MC2