UDINT_TO_IDENTINGROUP

UDINT_TO_IDENTINGROUP 1:

TF5410
TwinCAT 3 Motion Collision Avoidance

TF5420
TwinCAT 3 Motion Pick-and-Place

 

MC Group with Pick-and-Place

MC Group Coordinated Motion

UDINT_TO_IDENTINGROUP 2:

UDINT_TO_IDENTINGROUP 3:

UDINT_TO_IDENTINGROUP 4:

The function UDINT_TO_IDENTINGROUP is a conversion function, which converts an integer value to IDENT_IN_GROUP_REF. It is required to add a PTP axis without spatial interpretation to a CA-Group. This conversion function returns a valid input for MC_AddAxisToGroup and MC_RemoveAxisFromGroup. For axes intended for multi-dimensional movement (TF5420) see IDENT_IN_GROUP_REF.

UDINT_TO_IDENTINGROUP 5:

Use of integer values for the input IdentInGroup

The use of integer values for the input IdentInGroup is NOT supported and may lead to incompatibility with future releases. If integer values are used, it may no longer be possible to build the project. We recommend using global variables (e.g. MCS_X) or the conversion function UDINT_TO_IDENTINGROUP.

UDINT_TO_IDENTINGROUP 6: Return value

Name

Type

Description

UDINT_TO_IDENTINGROUP

IDENT_IN_GROUP_REF

Converts an integer value, so a PTP axis can be added to a motion group.

UDINT_TO_IDENTINGROUP 7: Inputs 

VAR_INPUT
    id               : UDINT;
END_VAR

Name

Type

Description

id

UDINT

The unique identifier an axis shall have in the group. This does not have to be the axis ID from the cyclic axis interface.

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