MC_SetCoordinateTransformPreparation

MC_SetCoordinateTransformPreparation 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_SetCoordinateTransformPreparation 2:

MC_SetCoordinateTransformPreparation 3:

MC_SetCoordinateTransformPreparation 4:

The function block MC_SetCoordinateTransformPreparation inserts a change of reference system into the table containing the segments of a path.

MC_SetCoordinateTransformPreparation 5: Inputs

VAR_INPUT
    PathData       : MC_PATH_DATA_REF;
    CoordTransform : MC_COORD_REF;
END_VAR

Name

Type

Description

PathData

MC_PATH_DATA_REF

Table containing the segments of a path. The table is written by the function block MC_…Preparation and executed by MC_MovePath.

CoordTransform

MC_COORD_REF

Reference to a coordinate system.

MC_SetCoordinateTransformPreparation 6: Outputs

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