MC_ActivateTrack

MC_ActivateTrack 1:

This function block activates a track as a reference system, which can then be used in various motion function blocks for positioning. The XTS track object must be created under the XTS Processing Unit and is then selected via the Object Id. The XTS tracks are configured via the XTS Configurator (see XTS documentation for more information). ObjectID 0 can be used to reactivate the absolute reference system.

MC_ActivateTrack 2: VAR_INPUT

VAR_INPUT
    Execute   : BOOL;
    TrackId   : OTCID;
END_VAR

Name

Type

Description

Execute

BOOL

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

TrackId

OTCID

Object ID of the active track reference system.

MC_ActivateTrack 3: MC_ActivateTrack 4: VAR_IN_OUT

VAR_IN_OUT
    Axis                  : AXIS_REF;
END_VAR

Name

Type

Description

Axis

AXIS_REF

Reference to an axis (see AXIS_REF).

MC_ActivateTrack 5: VAR_OUTPUT

VAR_OUTPUT
    Done                  : BOOL;
    Busy                  : 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.

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 V3.1.4024.7

TF5400 Advanced Motion Pack V3.1.10.1

PC or CX (x86 or x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2