MC_MovePath
TF5410 | TF5420 | |
---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
|
The function block MC_MovePath executes a movement defined in the PathData table by MC_MoveLinearAbsolutePreparation, MC_MoveCircularAbsolutePreparation, MC_BlockerPreparation and MC_SetCoordinateTransformPreparation.
![]() | Re-triggering of an FB instance during motion It is possible to execute different motion commands with one instance of this function block. However, the outputs of the function block only indicate the last command executed. The user loses the ability to diagnose for the previously sent motion commands. Re-triggering of a function block is therefore not recommended. |
VAR_INPUT
VAR_INPUT
Execute : BOOL;
END_VAR
Name | Type | Description |
---|---|---|
Execute | BOOL | The command is triggered by a rising edge at this input. |
VAR_IN_OUT
VAR_IN_OUT
AxesGroup : AXES_GROUP_REF;
PathData : MC_PATH_DATA_REF;
END_VAR
Name | Type | Description |
---|---|---|
AxesGroup | AXES_GROUP_REF | Reference to a group of axes (see Cyclic group interface). |
PathData | Table containing the segments of a path. The table is written by MC_MoveLinearAbsolutePreparation, MC_MoveCircularAbsolutePreparation, MC_BlockerPreparation and MC_SetCoordinateTransformPreparation and executed by MC_MovePath. |
VAR_OUTPUT
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VAR
Name | Type | Description |
---|---|---|
Done | BOOL | This output becomes |
Busy | BOOL | This output becomes |
Active | BOOL | If Active is |
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 V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x64) | Tc3_McCoordinatedMotion, Tc2_MC2 |