MC Group with Pick-and-Place

The MC Group connects axes in order to execute a multi-dimensional motion.

	For new projects, the use of the "MC Group Coordinated Motion" is recommended. As of TF5400 3.2.27, no new projects can be created with the MC Group Pick-and-Place.

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	`MC.MC_AXES_CONVENTION`	A 2D group consisting of `X`, `Y`. The order of the translatory axes in the configuration determines the order of translation.
Axes Convention	mcAxesConv3DCartesianXYZ	`MC.MC_AXES_CONVENTION`	A 3D group consisting of `X`, `Y`, `Z`. The order of the translatory axes in the configuration determines the order of translation.
Axes Convention	mcAxesConv4DCartesianXYZC	`MC.MC_AXES_CONVENTION`	A 4D group consisting of `X`, `Y`, `Z` and a rotary axis around `Z` (`C`). The order of the translatory and rotary axes in the configuration determines the order of translation and rotation.

Axis group parameters of the pick-and-place kernel

Tab: Parameter (Init).

Parameter	Unit	Type	Description
NET Cycle Time Divisor		`UINT`	Improves accuracy on the basis of temporal discretization.
Time Override Ramp Time	`S`	`LREAL`	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.