MC_TRAJECTORY_ENTRY

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_TRAJECTORY_ENTRY 1:

MC_TRAJECTORY_ENTRY 2:

MC_TRAJECTORY_ENTRY 3:

The structure MC_TRAJECTORY_ENTRY is used in connection with the function block MC_GroupReadTrajectoryInformation. 

TYPE MC_TRAJECTORY_ENTRY :
STRUCT
    InvokeId                 : UDINT;
    Active                   : BOOL;
    RemainingCartesianLength : LREAL;
    RemainingDuration        : LREAL;
END_STRUCT
END_TYPE

Name

Type

Description

InvokeId

UDINT

Segment ID

Active

BOOL

Indicates if a blending segment is active.

RemainingCartesianLength

LREAL

Remaining distance for the current segment

RemainingDuration

LREAL

Remaining time of the segment

Requirements

Development environment

Target platform

PLC libraries
to include

TF5400 Advanced Motion Pack V3.4.45

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2