Tc3_McCoordinatedMotion

The Tc3_McCoordinatedMotion library is used for TF5410 TwinCAT 3 Motion Collision Avoidance and also for TF5420 TwinCAT 3 Motion Pick-and-Place.

Overview

Function block

Description

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

MC Group with Pick-and-Place

MC Group Coordinated Motion

Administrative

 

MC_AddAxisToGroup

Adds an axis group.

Tc3_McCoordinatedMotion 1:

Tc3_McCoordinatedMotion 2:
(Tc3_McCoordinatedMotion 3: up to v3.2)

Tc3_McCoordinatedMotion 4:

MC_GroupDisable

Disables an axis group.

Tc3_McCoordinatedMotion 5:

Tc3_McCoordinatedMotion 6:
(Tc3_McCoordinatedMotion 7: up to v3.2)

Tc3_McCoordinatedMotion 8:

MC_GroupEnable

Enables an axis group.

Tc3_McCoordinatedMotion 9:

Tc3_McCoordinatedMotion 10:
(Tc3_McCoordinatedMotion 11: up to v3.2)

Tc3_McCoordinatedMotion 12:

MC_GroupReadError

Reads the error ID of a group.

Tc3_McCoordinatedMotion 13:

Tc3_McCoordinatedMotion 14:
(Tc3_McCoordinatedMotion 15: up to v3.2)

Tc3_McCoordinatedMotion 16:

MC_GroupReadStatus

Reads the group status.

Tc3_McCoordinatedMotion 17:

Tc3_McCoordinatedMotion 18:
(Tc3_McCoordinatedMotion 19: up to v3.2)

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MC_GroupReadTrajectoryInformation

Reads out information about the current and next segments in the path.

Tc3_McCoordinatedMotion 21:

Tc3_McCoordinatedMotion 22:

Tc3_McCoordinatedMotion 23:

MC_GroupReset

Resets a group.

Tc3_McCoordinatedMotion 24:

Tc3_McCoordinatedMotion 25:
(Tc3_McCoordinatedMotion 26: up to v3.2)

Tc3_McCoordinatedMotion 27:

MC_GroupSetOverride

Sets the override of a group and returns the actual override value.

Tc3_McCoordinatedMotion 28:

Tc3_McCoordinatedMotion 29:
(Tc3_McCoordinatedMotion 30: up to v3.2)

Tc3_McCoordinatedMotion 31:

MC_GroupSetSetpointSource

Configures the source of the setpoint generation (CM group, PTP, etc.)

Tc3_McCoordinatedMotion 32:

Tc3_McCoordinatedMotion 33:

Tc3_McCoordinatedMotion 34:

MC_RemoveAxisFromGroup

Removes an axis from a group.

Tc3_McCoordinatedMotion 35:

Tc3_McCoordinatedMotion 36:
(Tc3_McCoordinatedMotion 37: up to v3.2)

Tc3_McCoordinatedMotion 38:

MC_SetCoordinateTransform

Activates a reference system.

Tc3_McCoordinatedMotion 39:

Tc3_McCoordinatedMotion 40:
(Tc3_McCoordinatedMotion 41: up to v3.2)

Tc3_McCoordinatedMotion 42:

MC_SetCoordinateTransformPreparation

Adds a change of reference system to the list of movement segments.

Tc3_McCoordinatedMotion 43:

Tc3_McCoordinatedMotion 44:

Tc3_McCoordinatedMotion 45:

MC_TrackConveyorBelt

Assists in synchronizing velocity to an object moving along a straight line through space.

Tc3_McCoordinatedMotion 46:

Tc3_McCoordinatedMotion 47:
(Tc3_McCoordinatedMotion 48: up to v3.2)

Tc3_McCoordinatedMotion 49:

MC_UngroupAllAxes

Disables a group and removes all axes.

Tc3_McCoordinatedMotion 50:

Tc3_McCoordinatedMotion 51:
(Tc3_McCoordinatedMotion 52: up to v3.2)

Tc3_McCoordinatedMotion 53:

UDINT_TO_IDENTINGROUP

Converts an integer value to IDENT_IN_GROUP_REF, so axes without special interpretation can be added to a group.

Tc3_McCoordinatedMotion 54:

Tc3_McCoordinatedMotion 55:

Tc3_McCoordinatedMotion 56:

Motion

 

MC_GroupHalt

Stops a group without locking it for further motion commands.

Tc3_McCoordinatedMotion 57:

Tc3_McCoordinatedMotion 58:

Tc3_McCoordinatedMotion 59:

MC_GroupStop

Stops a group and locks it for further motion commands.

Tc3_McCoordinatedMotion 60:

Tc3_McCoordinatedMotion 61:
(Tc3_McCoordinatedMotion 62: up to v3.2)

Tc3_McCoordinatedMotion 63:

MC_MoveLinearAbsolutePreparation

Adds an absolute linear movement to a list of motion segments.

Tc3_McCoordinatedMotion 64:

Tc3_McCoordinatedMotion 65:
(Tc3_McCoordinatedMotion 66: up to v3.2)

Tc3_McCoordinatedMotion 67:

MC_MoveCircularAbsolutePreparation

Adds an absolute circular movement to a list of motion segments.

Tc3_McCoordinatedMotion 68:

Tc3_McCoordinatedMotion 69:
(Tc3_McCoordinatedMotion 70: up to v3.2)

Tc3_McCoordinatedMotion 71:

MC_MoveDirectPreparation

Adds a movement in direct mode to a list of movement segments.

Tc3_McCoordinatedMotion 72:

Tc3_McCoordinatedMotion 73:

Tc3_McCoordinatedMotion 74:

MC_MoveBlendingPreparation

Adds a smoothing transition between two movements to a list of movement segments.

Tc3_McCoordinatedMotion 75:

Tc3_McCoordinatedMotion 76:

Tc3_McCoordinatedMotion 77:

MC_MovePath

Executes a list of motion segments.

Tc3_McCoordinatedMotion 78:

Tc3_McCoordinatedMotion 79:
(Tc3_McCoordinatedMotion 80: up to v3.2)

Tc3_McCoordinatedMotion 81:

MC_BlockerPreparation

Appends a blocking job to the list of segments in the structure PathData.

Tc3_McCoordinatedMotion 82:

Tc3_McCoordinatedMotion 83:

Tc3_McCoordinatedMotion 84:

MC_ReleaseBlocker

Resolves a blocking job that is blocking further execution of the path.

Tc3_McCoordinatedMotion 85:

Tc3_McCoordinatedMotion 86:

Tc3_McCoordinatedMotion 87:

MC_GroupReadBlockerStatus

Reads the current blocker status.

Tc3_McCoordinatedMotion 88:

Tc3_McCoordinatedMotion 89:

Tc3_McCoordinatedMotion 90:

MC_DwellTimePreparation

Appends a standstill job with a defined time to the list of segments in the structure PathData.

Tc3_McCoordinatedMotion 91:

Tc3_McCoordinatedMotion 92:

Tc3_McCoordinatedMotion 93:

MC_CalcTrafo

Calculates the forward or inverse of the kinematic transformation.

Tc3_McCoordinatedMotion 94:

Tc3_McCoordinatedMotion 95:

Tc3_McCoordinatedMotion 96:

Structures and enumerations

Function block

Description

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

MC Group with Pick-and-Place

MC Group Coordinated Motion

IDENT_IN_GROUP_REF

Defines how an axis is interpreted in a group.

Tc3_McCoordinatedMotion 97:

Tc3_McCoordinatedMotion 98:
(Tc3_McCoordinatedMotion 99: up to v3.2)

Tc3_McCoordinatedMotion 100:

MC_CIRC_MODE

The circle mode defines which definition is used to program a circle.

Tc3_McCoordinatedMotion 101:

Tc3_McCoordinatedMotion 102:
(Tc3_McCoordinatedMotion 103: up to v3.2)

Tc3_McCoordinatedMotion 104:

MC_CIRC_PATHCHOICE

The data type defines the rotation direction of a circle.

Tc3_McCoordinatedMotion 105:

Tc3_McCoordinatedMotion 106:
(Tc3_McCoordinatedMotion 107: up to v3.2)

Tc3_McCoordinatedMotion 108:

MC_PATH_DATA_REF

Represents the path to be executed at MC_MovePath.

Tc3_McCoordinatedMotion 109:

Tc3_McCoordinatedMotion 110:
(Tc3_McCoordinatedMotion 111: up to v3.2)

Tc3_McCoordinatedMotion 112:

ClearPath

Resets the path represented by MC_PATH_DATA_REF.

Tc3_McCoordinatedMotion 113:

Tc3_McCoordinatedMotion 114:
(Tc3_McCoordinatedMotion 115: up to v3.2)

Tc3_McCoordinatedMotion 116:

MC_TRANSITION_MODE

Characterizes the way a segment transition is executed.

Tc3_McCoordinatedMotion 117:

Tc3_McCoordinatedMotion 118:
(Tc3_McCoordinatedMotion 119: up to v3.2)

Tc3_McCoordinatedMotion 120:

MC_COORD_REF

Object ID of a coordinate system.

Tc3_McCoordinatedMotion 121:

Tc3_McCoordinatedMotion 122:
(Tc3_McCoordinatedMotion 123: up to v3.2)

Tc3_McCoordinatedMotion 124:

MC_TRAJECTORY_ENTRY

To return segment information in connection with MC_GroupReadTrajectoryInformation.

Tc3_McCoordinatedMotion 125:

Tc3_McCoordinatedMotion 126:

Tc3_McCoordinatedMotion 127:

Further Information