MC_DwellTimePreparation
TF5410 | TF5420 | |
|---|---|---|
| MC Group with Pick-and-Place | MC Group Coordinated Motion |
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The function block MC_DwellTimePreparation appends a standstill job with a defined time to the table of segments in the PathData structure. The PathData table can be executed via MC_MovePath. The function block MC_DwellTimePreparation can be called several times per cycle.
Inputs
VAR_INPUT
DwellTime : Time;
BufferMode : MC_BUFFER_MODE := mcBuffered;
InvokeId : UDINT;
END_VARName | Type | Description |
|---|---|---|
DwellTime | Time | Time during which the path is stationary at velocity 0. Any timespan >= 0 is allowed. A DwellTime of zero leads to an exact stop, even if the surrounding segments would allow a transition with a velocity > 0. |
BufferMode | MC_BUFFER_MODE | Defines how successive motion commands are to be processed (see MC_BUFFER_MODE). Only mcBuffered and mcAborting are allowed here. |
InvokeId | UDINT | Segment ID for analysis purposes. |
Inputs/outputs
VAR_IN_OUT
PathData : MC_PATH_DATA_REF;
END_VARName | Type | Description |
|---|---|---|
PathData | MC_PATH_DATA_REF | Table containing the segments of a path. The table is written by the Preparation function blocks, like this one, and executed by MC_MovePath (see MC_PATH_DATA_REF). |
Outputs
VAR_OUTPUT
Error : BOOL;
ErrorId : UDINT;
END_VARName | 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 V3.1.4024.7 TF5400 Advanced Motion Pack V3.1.10.1 | PC or CX (x64) | Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2 |