MC_GroupSetSetpointSource

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_GroupSetSetpointSource function block can be used to define the operating mode of the MC Group Coordinated Motion (CM group). If the setpoint source "Group" is selected, the source of the setpoint generation is the CM group. In other words, what is transferred to the group via MC_MovePath. In 'MCS' mode, the Cartesian setpoints fed in by PTP or NCI, for example, are used. The necessary inverse transformation is calculated within the CM group.

In 'ACS' mode, the axes are controlled directly, e.g., via PTP. This mode can be used for teaching, for example. The CM group calculates the forward transformation so that the Cartesian positions can be displayed.

Inputs

VAR_INPUT
    Execute        : BOOL;
    SetpointSource : ECmSetpointSource;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
SetpointSource	ECmSetpointSource	Definition of the operating mode of the CM group

Inputs/outputs

VAR_IN_OUT
   AxesGroup             : AXES_GROUP_REF; 
END_VAR

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

Outputs

VAR_OUTPUT
    Done                  : BOOL;
    Busy                  : BOOL;
    Error                 : BOOL;
    ErrorId               : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	This output becomes TRUE when the command was successfully executed.
Busy	BOOL	This output becomes TRUE when the command is started with Execute and remains so as long as the function block executes the command. If Busy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs Done, CommandAborted (if available) or Error is set.
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