MC_SetCoordinateTransformPreparation
TF5410 | TF5420 | |
---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
The function block inserts a change of reference system into the table containing the segments of a path.
VAR_INPUT
VAR_INPUT
PathData : MC_PATH_DATA_REF;
CoordTransform : MC_COORD_REF;
END_VAR
Name | Type | Description |
---|---|---|
PathData | Table containing the segments of a path. The table is written by the function block MC_…Preparation and executed by MC_MovePath. | |
CoordTransform | Reference to a coordinate system. |
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 platform | PLC library to include |
---|---|---|
TwinCAT V3.1.4024.40 TF5400 Advanced Motion Pack V3.3.19 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |