MC_CIRC_PATHCHOICE

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_CIRC_PATHCHOICE 1:

MC_CIRC_PATHCHOICE 2:
(MC_CIRC_PATHCHOICE 3: up to and including v3.2)

MC_CIRC_PATHCHOICE 4:

The MC_CIRC_PATHCHOICE data type defines the direction of rotation of a circle if mcCircModeCenter or mcCircModeRadius is selected from the enumeration MC_CIRC_MODE.

TYPE MC_CIRC_PATHCHOICE :
(
    mcCircPathchoiceClockwise          := 16#3000,
    mcCircPathchoiceCounterClockwise   := 16#3001

//new from TF5400 V3.1.10.1
    mcCircPathchoiceShortSegment       := 16#3002,
    mcCircPathchoiceLongSegment        := 16#3003
);
END_TYPE

Name

Type

Description

mcCircPathchoiceClockwise

INT

represents the circle segment with an angle >180°.

mcCircPathchoiceCounterClockwise

INT

represents the circle segment with an angle <180°.

mcCircPathchoiceShortSegment

INT

represents the circle segment with the smaller angle.

mcCircPathchoiceLongSegment

INT

represents the circle segment with the larger angle.