MC_MoveLinearAbsolutePreparation

TF5410 TwinCAT 3 Motion Collision Avoidance	TF5420 TwinCAT 3 Motion Pick-and-Place
	MC Group with Pick-and-Place	MC Group Coordinated Motion
	(up to and including v3.2)

The function block MC_MoveLinearAbsolutePreparation adds an absolute linear movement to the table of segments in the PathData structure. After creating a table, it can be executed via MC_MovePath. The function block MC_MoveLinearAbsolutePreparation can be called several times per cycle. A maximum of 30 entries are allowed per PathData table.

Inputs

VAR_INPUT
    Position                 : POINTER TO LREAL;
    PositionCount            : UDINT;
    Velocity                 : MC_LREAL := MC_INVALID;
    Acceleration             : MC_LREAL := MC_DEFAULT;
    Deceleration             : MC_LREAL := MC_DEFAULT;
    Jerk                     : MC_LREAL := MC_DEFAULT;
    BufferMode               : MC_BUFFER_MODE := mcAborting;
    TransitionMode           : MC_TRANSITION_MODE := mcTransModeNone; 
    TransitionParameter      : POINTER TO LREAL; 
    TransitionParameterCount : UDINT;
    InvokeId                 : UDINT;
    DynamicConstraints       : REFERENCE TO IPlcDynamicConstraint := 0;
END_VAR

Name	Type	Description
Position	POINTER TO LREAL	Pointer to an array [1..PositionCount] of the target position vector.
PositionCount	UDINT	Dimension of the position vector. Must match the number of axes in the axis convention (see MC Group Coordinated Motion or MC Group with Pick-and-Place).
Velocity	MC_LREAL	The maximum velocity for the programmed segment. The velocity does not always have to be reached. The velocity must be set >0.
Acceleration	MC_LREAL	Maximum path acceleration for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The acceleration must be set ≥1.
Deceleration	MC_LREAL	Maximum path deceleration for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. MC_MAXIMUM executes the command with the maximum axis values. The deceleration must be set ≥1.
Jerk	MC_LREAL	Path jerk for the programmed segment. Special input values can be used. MC_DEFAULT executes the command with default axis values. The jerk must be set ≥100. From TF5400 V3.2.27: MC_MAXIMUM is supported for MC Group Coordinated Motion. Here MC_MAXIMUM = 100 * MC_DEFAULT.
BufferMode	MC_BUFFER_MODE	Defines how successive motion commands are to be processed (see MC_BUFFER_MODE).
Transition mode	MC_TRANSITION_MODE	Defines the blending mode (see MC_TRANSITION_MODE).
TransitionParameter	POINTER TO LREAL	Pointer to array [1..TransitionParameterCount] of blending parameters. Transition parameters define the blending from the last programmed position (see MC_TRANSITION_MODE).
TransitionParameterCount	UDINT	Number of blending parameters (see MC_TRANSITION_MODE).
InvokeId	UDINT	Segment ID for analysis purposes.
DynamicConstraints	REFERENCE TO IPlcDynamicConstraint	From TF5400 V3.2.27, MC Group Coordinated Motion: Optional input to further limit the allowed values for velocity, acceleration, deceleration or jerk during motion. Notice Reference assignment: `<InstanceOfMC_MoveLinearAbsolutePreparation>.DynamicConstraints` REF= `<InstanceOfIPlcDynamicConstraint>;`

Inputs/outputs

VAR_IN_OUT
    PathData                 : MC_PATH_DATA_REF;
END_VAR

Name	Type	Description
PathData	MC_PATH_DATA_REF	Table containing the segments of a path. The table is written by MC_Move…Preparation and executed by MC_MovePath (see MC_PATH_DATA_REF).

	Resetting a table A table is not reset during execution. To reset, the method `ClearPath()` must be called from MC_PATH_DATA_REF.

Outputs

VAR_OUTPUT
    Error                    : BOOL;
    ErrorId                  : UDINT;
END_VAR

Name	Type	Description
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).

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

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