MC_MoveDirectPreparation

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_MoveDirectPreparation function block adds a movement in Direct Mode to the table of segments in the PathData structure. The target position is specified in the ACS (Axis Coordinate System). The MC_CalcTrafo function block can be used to convert the position from the MCS (Machine Coordinate System) to the ACS if necessary.

Optionally, dynamic constraints—which, for example, limit individual axis speeds—can be specified. Cartesian constraints also apply in Direct Mode.

After a table has been created, it can be executed using MC_MovePath. The MC_MoveDirectPreparation function block can be called multiple times per cycle.

Inputs

VAR_INPUT
    Position                 : POINTER TO LREAL;
    PositionCount            : UDINT;
    Velocity                 : MC_LREAL := MC_INVALID;
    Acceleration             : MC_LREAL := MC_DEFAULT;
    Deceleration             : MC_LREAL := MC_DEFAULT;
    Jerk                     : MC_LREAL := MC_DEFAULT;
    BufferMode               : MC_BUFFER_MODE := mcAborting;
    TransitionMode           : MC_TRANSITION_MODE := mcTransModeNone; 
    TransitionParameter      : POINTER TO LREAL; 
    TransitionParameterCount : UDINT;
    InvokeId                 : UDINT;
    DynamicConstraints       : REFERENCE TO IPlcDynamicConstraint := 0;
END_VAR

Name	Type	Description
Position	POINTER TO LREAL	Pointer to an array [1..PositionCount] of the target position vector
PositionCount	UDINT	Dimension of the position vector. Must match the number of axes in the axis convention (see MC Group Coordinated Motion).
Velocity	MC_LREAL	The maximum velocity for the programmed segment. The velocity does not always have to be reached. The velocity must be set >0.
Acceleration	MC_LREAL	Maximum path acceleration for the programmed segment. Special input values can be used: MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The acceleration must be set ≥1.
Deceleration	MC_LREAL	Maximum path deceleration for the programmed segment. Special input values can be used: MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The deceleration must be set ≥1.
Jerk	MC_LREAL	Path jerk for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. The jerk must be set ≥100. MC_MAXIMUM = 100 * MC_DEFAULT
BufferMode	MC_BUFFER_MODE	Defines how successive motion commands are to be processed.
Transition Mode	MC_TRANSITION_MODE	Defines the blending mode.
TransitionParameter	POINTER TO LREAL	Pointer to array [1..TransitionParameterCount] of blending parameters. Transition parameters define the blending from the last programmed position.
TransitionParameterCount	UDINT	Number of blending parameters
InvokeId	UDINT	Segment ID for analysis purposes
DynamicConstraints	REFERENCE TO IPlcDynamicConstraint	Optional input to further restrict the permitted values for speed, acceleration, deceleration, or jerk during movement. Notice Reference assignment: `<InstanceOfMC_MoveLinearAbsolutePreparation>.DynamicConstraints` REF= `<InstanceOfIPlcDynamicConstraint>;`

/ Inputs/Outputs

VAR_IN_OUT
    PathData                 : MC_PATH_DATA_REF;
END_VAR

Name	Type	Description
PathData	MC_PATH_DATA_REF	Table containing the segments of a path. The table is written by MC_Move…Preparation and executed by MC_MovePath (see MC_PATH_DATA_REF).

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 libraries to include
TF5400 Advanced Motion Pack V3.4.45	PC or CX (x64)	Tc3_McCoordinatedMotion, Tc2_MC2