MC Group Coordinated Motion

MC Group Coordinated Motion 1:

Parameter (Init)

Spatial Axes Conventions

Three axes conventions can be set.

The axes conventions define how the axes are interpreted in the axis group. In combination with "Additional Axes Count", 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

Spatial 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.

Spatial 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.

Spatial 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.

Additional Axes Count

Number of axes in the axis group that have no geometric interpretation. Between 0 and 8 axes of this type can be inserted.

Blending Strategy

Sets the blending strategy.

Parameter

Value

Type

Description

Blending Strategy

mcBlendingGeo

MC.MC_BLENDING_STRATEGY

The blending path is defined geometrically and then executed with the dynamics allowed for the path.

Blending Strategy

mcBlendingSuperpos

MC.MC_BLENDING_STRATEGY

The blending path results dynamically from the superposition of two segments in the blending area.

Time Override Ramp Time

Ramp time for override modification from 0 % to 100 %. The time override is superimposed on the actual profile. This can result in higher dynamics in total during the override changes than were parameterized at the group.

Tracking Override Behavior

Defines whether the portion of the movement for accurate synchronization is subject to override or not.

Available from TF5400 3.2.27.

Parameter

Value

Type

Description

Tracking Override Behavior

Disable

MC.OverrideBehavior

The group override has no effect on the portion of movement for accurate synchronization.

Tracking Override Behavior

Enable

MC.OverrideBehavior

The group override also affects the portion of movement for accurate synchronization.

GeoBlending-specific parameters

Blending Path Type

Defines the geometry used for the blending path.

Parameter

Value

Type

Description

Blending Path Type

mcBlendingPathTypeIgnore

MC.MC_BLENDING_PATH_TYPE

No blending.

Blending Path Type

mcBlendingPathTypePoly5

MC.MC_BLENDING_PATH_TYPE

The blending path uses a fifth degree polynomial.