MC_MovePath

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion
	(up to and including v3.2)

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

	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.

Inputs

VAR_INPUT
    Execute               : BOOL;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.

Inputs/outputs

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, MC_MoveCircularAbsolutePreparation, MC_BlockerPreparation and MC_SetCoordinateTransformPreparation and executed by MC_MovePath.

Outputs

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 platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2