MC Group with Pick-and-Place
![]() | MC Group with Pick-and-Place no longer available Instead of the MC Group with Pick-and-Place, use MC Group Coordinated Motion. Up to TF5400 TwinCAT Advanced Motion Pack version 3.2.27, existing projects can be opened and executed with the MC Group with Pick-and-Place. |
The MC Group connects axes in order to execute a multi-dimensional motion.

Axes conventions
Tab: Parameter (Init). Three axes conventions can be set.
The axes conventions define how the axes are interpreted in the axis group. They define the dimension of the axis group and thus the number of axes that need to be added, as well as the way in which each of the added axes is interpreted.
Parameter | Value | Type | Description |
---|---|---|---|
Axes Convention | mcAxesConv2DCartesianXY |
| A 2D group consisting of |
Axes Convention | mcAxesConv3DCartesianXYZ |
| A 3D group consisting of |
Axes Convention | mcAxesConv4DCartesianXYZC |
| A 4D group consisting of |
Axis group parameters of the pick-and-place kernel

Tab: Parameter (Init).
Parameter | Unit | Type | Description |
---|---|---|---|
NET Cycle Time Divisor |
|
| Improves accuracy on the basis of temporal discretization. |
Time Override Ramp Time |
|
| Ramp time for override modification from 0 % to 100 %. |
The pick-and-place setpoint generator was specially developed for the requirements of pick-and-place applications. It is intended for motions where the precise path dynamics are not so important, but where the user wishes to get from one point to another as quickly as possible. It is therefore permissible for the algorithm to violate restrictions in the path dynamics within the tolerance sphere. Axis restrictions are never violated.