MC_CalcTrafo

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

The function block MC_CalcTrafo calculates the forward or inverse kinematic transformation. Accordingly, the function block requires that a kinematic transformation be assigned to the Coordinated Motion group.

Inputs

VAR_INPUT
    Execute                  : BOOL;
    Forward                  : BOOL; 
    AxesPosIn                : Pointer To LREAL; 
    AxesPosInCount           : UDINT; 
    AxesPosOut               : Pointer To LREAL; 
    AxesPosOutCount          : UDINT;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
Forward	BOOL	Determines whether the forward or backward transformation is calculated.
AxesPosIn	Pointer To LREAL	A pointer to an array containing the input positions of the transformation. When calculating a forward transformation, these represent the joint positions. When calculating a backward transformation, these represent the Cartesian axis positions.
AxesPosInCount	UDINT	Number of input positions
AxesPosOut	Pointer To LREAL	A pointer to an array containing the resultant positions of the transformation. When calculating a forward transformation, these represent the Cartesian coordinate positions. When calculating a backward transformation, these represent the joint positions.
AxesPosOutCount	UDINT	Number of result items

/ Inputs/Outputs

VAR_IN_OUT
    AxesGroup                : AXES_GROUP_REF;
    MetaInfoIn               : U_CalcTrafoMetaInfo;
    MetaInfoOut              : U_CalcTrafoMetaInfo;
END_VAR

Name	Type	Description
AxesGroup	AXES_GROUP_REF	Reference to a group of axes (see Cyclic Group Interface)
MetaInfoIn	U_CalcTrafoMetaInfo	If multiple robot configurations result in a solution, you can select the solution to be used. For kinematics where this parameter is not required, this input can be assigned a dummy variable.
MetaInfoOut	U_CalcTrafoMetaInfo	If multiple solutions are possible for a transformation, the solution found is specified. For kinematics where this parameter is not required, this input can be assigned a dummy variable.

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 V3.4.60	PC oder CX (x64)	Tc3_McCoordinatedMotion, Tc2_MC2