MC_GroupSetOverride

MC_GroupSetOverride 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

MC_GroupSetOverride 2:

MC_GroupSetOverride 3:
(MC_GroupSetOverride 4:up to and including v3.2)

MC_GroupSetOverride 5:

The function block MC_GroupSetOverride changes the override of a group. A change is made with a certain delay. An override input value is valid between 0 [0%] and 1 [100%]. If the value is set outside this range, it is automatically set to the respective limit value.

MC_GroupSetOverride 6:

The behavior for override modifications in relation to the MC group can be defined as an axis group parameter, see Time Override Ramp Time.

MC_GroupSetOverride 7: Inputs

VAR_INPUT
    Enable               : BOOL;
    VelFactor            : MC_LREAL := 1.0;
END_VAR

Name

Type

Description

Enable

BOOL

The command is executed as long as Enable is active.

VelFactor

MC_LREAL

The override is set to this value (value range between 0 [0 %] and 1 [100 %]).

MC_GroupSetOverride 8: Inputs/outputs

VAR_IN_OUT
   AxesGroup             : AXES_GROUP_REF; 
END_VAR

Name

Type

Description

AxesGroup

AXES_GROUP_REF

Reference to a group of axes (see Cyclic Group Interface).

MC_GroupSetOverride 9: Outputs

VAR_OUTPUT
    Enabled              : BOOL;
    Busy                 : BOOL;
    Error                : BOOL;
    ErrorId              : UDINT;
    ActualVelFactor      : UDINT;
END_VAR

Name

Type

Description

Enabled

BOOL

This output signals that the VelFactor has been set successfully. The VelFactor shows the type of an override factor.

Busy

BOOL

This output becomes TRUE when the command is started with Enable and remains so as long as the function block executes the command.

Error

BOOL

This output becomes TRUE if an error has occurred during command execution.

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).

ActualVelFactor

UDINT

Override that is currently active in the group (value range between 0 [0 %] and 1 [100 %]).

Sample

VAR
    stGroupRef            : AXES_GROUP_REF;
    fbSetOverride         : MC_GroupSetOverride;
END_VAR
fbSetOverride(
    AxesGroup:=stGroupRef , 
    Enable:= TRUE , 
    VelFactor:=1.0 , (* 1.0 = 100% *)
);

Requirements

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCoordinatedMotion, Tc2_MC2