Overview of the new functions

As of TF5400 V3.3.72

New: In the GroupDisabled state, PTP commands of the Tc2_MC2 library (e.g. MC_MoveAbsolute) are permitted on axes of the group.

As of TF5400 V3.3.19

MC-Group Pick-and-Place no longer available.
New: Function block MC_SetCoordinateTransformPreparation for the MC-Group Coordinated Motion
Requires TwinCAT V3.1.4024.40 or higher

As of TF5400 V3.2.27 for the MC Group Coordinated Motion:

New: Introduction of additional dynamic constraints for path and auxiliary axes.
New: Optionally, the override also affects the synchronization phase for the MC_TrackConveyorBelt.
Optimizations to the MC_TrackConveyorBelt that prevent SAF cycle misalignment between conveyor (master) and slave axis.
Optimizations of the error reaction for the MC_TrackConveyorBelt. In the event of a runtime error of the conveyor belt (master), an active MC_MovePath is not aborted and an error reaction is to be triggered via the PLC.
Requires an x64 platform

As of TF5400 V3.1.10.64:

New: In an MC Group Coordinated Motion with Geo Blending, a blocker that is triggered early enough before it becomes active will be blended over and passed on without interruption.
Requires TwinCAT V3.1.4024.24 or higher

As of TF5400 V3.1.10.1:

New: MC_GroupHalt function block for MC Group Coordinated Motion.
New: Enum MC_TRANSITION_MODE extended by mcTransModeCornerDistance for MC Group Coordinated Motion.
New: Enum MC_CIRC_PATHCHOICE extended by mcCircPathchoiceShortSegment and mcCircPathchoiceLongSegment.
Requires TwinCAT V3.1.4024.7 or higher

As of TF5400 V3.1.6.27:

New: The remaining time and distance of the current segment can be read via ADS, see Index Offset Specification for MC Group Parameters.
Requires TwinCAT V3.1.4022.0 or higher

As of TF5400 V3.1.6.3:

As of TF5400 V3.1.4.4:

As of TF5400 V3.1.2.47: