MC_TrackConveyorBelt
TF5410 | TF5420 | |
---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
|
The function block Mc_TrackConveyorBelt enables a reference system that is in motion. It synchronizes the AxesGroup
with the ConveyorBelt
in terms of velocity.
Synchronization with a position requires a motion command.
The function block thus helps to synchronize with an object that moves in a straight line through space. Example: products moving on a conveyor belt or other transport system.
The origin of the conveyor belt is parameterized with a coordinate system (CoordTransform
). X
is the conveying direction. The detected object position (InitialObjectPos
) and the corresponding touch probe position (MasterRefPos
) are entered in the function block.
Synchronization dynamics can be entered in the function block.
Movements executed after Active = TRUE
are synchronized with the conveyor belt.
Execution of MC_TrackConveyorBelt
with another instance causes direct synchronization with a second conveyor belt.
When changing the reference system, a conveyor belt can be decoupled.
Use case for changing the reference system The |
News and optimizations regarding MC_TrackConveryorBelt with TF5400 V3.2.27 for MC Group Coordinated Motion
- New: Optionally, the override also affects the synchronization phase for the MC_TrackConveyorBelt. The setting is made in the parameter "Tracking Override Behavior" in the MC Group Coordinated Motion.
- Optimizations to the MC_TrackConveyorBelt that prevent SAF cycle misalignment between conveyor (master) and slave axis.
- Optimizations of the error reaction for the MC_TrackConveyorBelt. In the event of a runtime error of the conveyor belt (master), an active MC_MovePath is not aborted and an error reaction is to be triggered via the PLC.
Inputs
VAR_INPUT
Execute : BOOL;
CoordTransform : MC_COORD_REF;
InitialObjectPos : POINTER TO MC_LREAL;
InitialObjectPosCount : UDINT;
MasterRefPos : MC_LREAL;
Velocity : MC_LREAL := MC_DEFAULT;
Acceleration : MC_LREAL := MC_DEFAULT;
Deceleration : MC_LREAL := MC_DEFAULT;
Jerk : MC_LREAL := MC_DEFAULT;
END_VAR
Name | Type | Description |
---|---|---|
Execute | BOOL | The command is triggered by a rising edge at this input. |
CoordTransform | MC_COORD_REF | Reference to a coordinate system (see MC_COORD_REF). |
InitialObjectPos | POINTER TO MC_LREAL | Pointer to array |
InitialObjectPosCount | UDINT | Dimension of the |
MasterRefPos | MC_LREAL | Touch probe position. |
Velocity | MC_LREAL | Velocity for synchronization. The velocity must exceed the conveyor belt velocity. The velocity is not limited by the maximum axis velocity. |
Acceleration | MC_LREAL | Used in the Conveyor Tracking object. The acceleration for synchronization. The acceleration is not limited by the maximum axis acceleration. If no value is entered, then the default acceleration of the Conveyor Tracking object is used. |
Deceleration | MC_LREAL | Used in the Conveyor Tracking object. The deceleration for synchronization. The deceleration is not limited by the maximum axis deceleration. If no value is entered, then the default deceleration of the Conveyor Tracking object is used. |
Jerk | MC_LREAL | The jerk for synchronization. If no value is entered, then the default jerk of the Conveyor Tracking object is used. The maximum jerk is not limited. |
Inputs/outputs
VAR_IN_OUT
AxesGroup : AXES_GROUP_REF;
ConveyorBelt : AXIS_REF;
END_VAR
Name | Type | Description |
---|---|---|
AxesGroup | AXES_GROUP_REF | Reference to a group of axes (see Cyclic Group Interface). |
ConveyorBelt | Reference to an axis. Reference to the conveyor axis. |
Outputs
VAR_OUTPUT
InSync : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VAR
Name | Type | Description |
---|---|---|
InSync | BOOL | The output |
Busy | BOOL | This output becomes |
Active | BOOL | If |
CommandAborted | BOOL | This output becomes |
Error | BOOL | This output becomes |
ErrorId | UDINT | Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn). |
Requirements
Development environment | Target platform | PLC libraries |
---|---|---|
TwinCAT V3.1.4022.25 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |