Planar part
From version V3.2.60: The Part feature, which is the subject of this section, is available.
The MC_PlanarPart is a PLC software object that represents the part in the PLC. It displays the state of the part and offers methods for changing the status.
The connection of the MC_PlanarPart is established indirectly via the MC_PlanarEnvironment. To do this, the initialize method of the MC_PlanarPart must be called with the correct object ID of the part after starting the PLC. The state of the MC_PlanarPart can then be both read and changed by method calls.
Possible commands for the MC_PlanarPart are the ActivatePosition method and the AllowEnable, ForceDisable and Reset methods. The ActivatePosition method moves the part to one of the possible positions. The methods AllowEnable, ForceDisable and Reset change the PlanarState of the MC_PlanarPart.
After calling the AllowEnable method, the PlanarPart is allowed to start up the PlanarState Machine (up to the CoE state OperationEnabled). As soon as the first mover in a coordinate system is activated with an Enable() command, all parts in this system are activated. Activating the part that the mover is located on is necessary for activating the mover and takes place first. Activating the remaining parts in a coordinate system is optional and may fail without preventing or canceling the activation. Conversely, calling the Disable() command on the last active mover in a coordinate system causes all parts to be switched off. The parts do not have to be switched off in order to switch off the mover and this takes place after the mover has been switched off.
Similarly, parts are activated or deactivated when the first/last activated mover enters or leaves a coordinate system by calling the ActivatePosition method of its part. The parts are also deactivated if the last active mover has an error with an "abort" error response. If a mover has an error with the "quick stop" error response, the parts remain activated. This applies during the error and the subsequent reset until the part is reactivated. If the error response is changed to "abort" by a Disable() command from the mover during the error or the Reset command, the parts switch off.
If a part is forced into the disabled state by calling the ForceDisable method, all movers on this part are set to the error state and other parts in the coordinate system may be switched off if there are no other active movers in the coordinate system. The part remains in the disabled state until at least the next AllowEnable call.
Error states of the part force errors of all movers on this part. The errors of the movers are attained before the part error. Other movers or parts in the coordinate system are not affected by these errors.
In the event of a part error, a Reset command can be triggered to rectify the error. Any mover errors are not affected by this. Conversely, a Reset command from a mover triggers a Reset command for all parts in the coordinate system with an error. The Reset command of the mover has as a necessary condition that its own part is error-free; accordingly, the part is reset before the mover.