Configuring a Node Connector

Configuring for MC_SetCoordinateTransform is illustrated at the example of a pallet located relative to the WCS or MCS coordinate system.

Configuring a Node Connector 1:

Node connector objects

Node connector objects are used by MC_SetCoordinateTransform and MC_TrackConveyorBelt. Instead of coordinate frames, node connector objects are addressed by the PLC as representatives.

Example

To introduce a coordinate transform using MC_SetCoordinateTransform:

1. Insert an MC Group.

Configuring a Node Connector 2:



Configuring a Node Connector 3:

2. Insert a Node Connector.

Configuring a Node Connector 4:

Configuring a Node Connector 5:
3. Insert a Coordinate Frame.

Configuring a Node Connector 6:
4. Enter relevant Node Connector Parameters - in this example the end node refers to the pallet object identification.

Configuring a Node Connector 7:



Configuring a Node Connector 8:

5. Enter relevant Coordinate Frame Parameters.

Configuring a Node Connector 9:
6. Link the inserted Node Connector to the PLC.

Configuring a Node Connector 10:

Configuring a Node Connector 11:

Configuring a Node Connector 12:

Configuring a Node Connector 13:

Configuring a Node Connector 14:
Finally‚ you can insert the MC_SetCoordinateTransform function block.

Configuring a Node Connector 15:
Configuring a Node Connector 16:

The axis group AxisGroup is linked with the Pick-and-Place function blocks.

Configuring a Node Connector 17:

For axis movements a move command has to be programmed, e.g. MovePath.