Overview of the new functions

As of TF5400 V3.4.60

• New: Function block for MC_Group Coordinated Motion:
• MC_CalcTrafo
• New: No fixed limit on the number of MC_PATH_DATA_REF entries (previously 30 entries), which are accessed using MC_MovePath.

As of TF5400 V3.4.45

• New: Optional direct integration of a kinematic transformation in an MC_Group Coordinated Motion.
• New: Consideration of the kinematic transformation and the ACS axis limits in path planning when integrating a kinematic transformation into the MC_Group Coordinated Motion.
• New: Function blocks for MC_Group Coordinated Motion:
• MC_GroupSetSetpointSource
• MC_GroupReadTrajectoryInformation
• MC_MoveDirectPreparation
• MC_MoveBlendingPreparation
• New: For installation under TwinCAT 3.1.4026 standalone packages for the libraries Tc3_McCoordinatedMotion, Tc3_Mc3Definitions, and Tc3_Physics. The libraries are still included in the workload installation TF5400.AdvancedMotion.XAE.
• TwinCAT.XAE.PLC.Lib.Tc3_McCoordinatedMotion
• TwinCAT.XAE.PLC.Lib.Tc3_Mc3Definitions
• TwinCAT.XAE.PLC.Lib.Tc3_Physics

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: Group type MC Group Coordinated Motion.
• New: Data for the MC Group Coordinated Motion in the cyclic group interface.
• New: Function blocks for MC Group Coordinated Motion:
• MC_BlockerPreparation
• MC_ReleaseBlocker
• MC_GroupReadBlockerStatus
• MC_DwellTimePreparation
• 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:

• New: Function block MC_SetCoordinateTransform.
• New: Function block MC_TrackConveyorBelt

As of TF5400 V3.1.4.4:

• New: Special input value MC_MAXIMUM.

As of TF5400 V3.1.2.47:

• New: Function block MC_MoveCircularAbsolutePreparation.