Overview of the new functions

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 a CM group 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 group type MC Group Coordinated Motion is available.
• Cyclic interface is extended for MC Group Coordinated Motion.
• New function blocks for MC Group Coordinated Motion:
• MC_BlockerPreparation
• MC_ReleaseBlocker
• MC_GroupReadBlockerStatus
• MC_DwellTimePreparation
• MC_GroupHalt is implemented for MC Group Coordinated Motion.
• mcTransModeCornerDistance, mcCircPathchoiceShortSegment and mcCircPathchoiceLongSegment are implemented for MC Group Coordinated Motion.
• Requires TwinCAT V3.1.4024.7 or higher

As of TF5400 V3.1.6.27:

• The remaining time and distance of the current segment can be read via ADSREAD.
• Requires TwinCAT V3.1.4022.0 or higher

As of TF5400 V3.1.6.3:

• New function blocks for spatial transformations, i.e. for changing the reference system (MC_SetCoordinateTransform) and for conveyor tracking (MC_TrackConveyorBelt).

As of TF5400 V3.1.4.4:

• New: From software version 3.1.4.4 MC_MAXIMUM is supported as input value. For more detailed information please refer to the documentation for the respective function block.

As of TF5400 V3.1.2.47:

• New function block MC_MoveCircularAbsolutePreparation.