MC_GroupReadTrajectoryInformation

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion

The MC_GroupReadTrajectoryInformation function block reads information about the current and next segments in the path.

Inputs

VAR_INPUT
    Enable     : BOOL;
END_VAR

Name	Type	Description
Enable	BOOL	The command is executed as long as Enable is active.

/ Inputs/Outputs

VAR_IN_OUT
    AxesGroup  : AXES_GROUP_REF;
END_VAR

Name	Type	Description
Axes	AXES_GROUP_REF	Reference to a group of axes (see Cyclic Group Interface).

Outputs

VAR_OUTPUT
    Valid      : BOOL;
    Error      : BOOL; 
    ErrorId    : UDINT; 
    EntryCount : UDINT; 
    Entries    : ARRAY [1..10] OF MC_TRAJECTORY_ENTRY;
END_VAR

Name	Type	Description
Valid	BOOL	This output indicates that other output values are valid for this function block.
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).
EntryCount	UDINT	Number of returned information on the next path segments.
Entries	ARRAY [1..10] OF MC_TRAJECTORY_ENTRY	Information on the next rail segments

Example

VAR
    stGroupRef : AXES_GROUP_REF;
    ReadInfo   : MC_GroupReadTrajectoryInformation;
    Data       : ARRAY [1..10] OF MC_TRAJECTORY_ENTRY;
END_VAR

ReadInfo(
    AxesGroup  := stGroupRef, 
    Enable     := TRUE, 
    Valid      => ,
    Error      => ,
    ErrorId    => ,
    EntryCount =>,
    Entries    => Data);

Possible information in 'Data':

Data[1].InvokeID                 :=  10;
Data[1].Active                   := TRUE;
Data[1].RemainingCartesianLength := 100; // mm
Data[1].RemainingDuration        :=   1; // s

Data[2].InvokeID                 :=  20;
Data[2].Active                   := FALSE;
Data[2].RemainingCartesianLength := 500; // mm
Data[2].RemainingDuration        :=   5; // s

Data[3].InvokeID                 :=  25;
Data[3].Active                   := FALSE;
Data[3].RemainingCartesianLength := 150.0; // mm
Data[3].RemainingDuration        :=   1.2; // s

Data[4].InvokeID                 :=  30;
Data[4].Active                   := FALSE;
Data[4].RemainingCartesianLength := 250.00; // mm
Data[4].RemainingDuration        :=   3.23; // s

Requirements

Development environment	Target platform	PLC libraries to include
TF5400 Advanced Motion Pack V3.4.45	PC or CX (x64)	Tc3_McCoordinatedMotion, Tc2_MC2