MC_PlanarMover

A Planar Mover object capable of moving within a plane. Limited movement vertical to the plane is available.

Do not call the main FB directly. Only use the available methods.

Methods

Name	Description
MoveToPosition	Initiates a direct movement to the specified position.
JoinTrack	Initiates a direct movement to the specified track. At the end of the movement the mover joins the track.
LeaveTrack	Initiates a direct movement to the specified position. At the beginning of the movement the track is left.
MoveOnTrack	Initiates a movement on the track to the specified position and returns command ID.
GearInPosOnTrack	Initiates a GearInPos movement along a specified trail.
GearInPosOnTrackWithMasterMover	Initiates a GearInPos movement along a specified trail, in which the master setpoints are provided by another PlanarMover.
MoveZ	Initiates a movement for the z component.
MoveA	Initiates a movement for the a component.
MoveB	Initiates a movement for the b component.
MoveC	Initiates a movement for the c component.
AdoptTrackOrientation	Initiates a movement for the c component.
Halt	Initiates a halt.
Enable	Starts enabling the Planar Mover.
Disable	Starts disabling the Planar Mover.
Reset	Starts resetting the Planar Mover.
Update	Updates internal state of the object, must be triggered each cycle.
SetPosition	Sets the position of the Planar Mover. Only possible if the Planar Mover is disabled.
StartExternalSetpointGeneration	Starts the external setpoint generation, the user must supply setpoints from this PLC cycle on in every PLC cycle.
StopExternalSetpointGeneration	Ends the external setpoint generation, called after last SetExternalSetpoint (in the same PLC cycle).
SetExternalSetpoint	Sets the external setpoint for the Planar Mover without ref sys id (for relative mode), must be called each PLC cycle during external setpoint generation.
SetExternalSetpointReferenceId	Sets the external setpoint for the Planar Mover with corresponing reference system id, must be called each PLC cycle during external setpoint generation.
AddToGroup	Adds the Planar Mover to the given Planar Group.
RemoveFromGroup	Removes the Planar Mover from its current Planar Group, i.e. disables collision checks.
GetPositionOnCurrentPart	Sets the values of the given position to the movers position values on the current part.
GetPlanarObjectInfo	Returns mover object info (type: mover, id: OID of nc mover).

Required License

TC3 Planar Motion Base

System Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT V3.1.4024.12 Advanced Motion Pack V3.1.10.11	PC or CX (x64)	Tc3_Mc3PlanarMotion, Tc3_Physics

Development environment

Target system type

PLC libraries to include

TwinCAT V3.1.4024.12

Advanced Motion Pack V3.1.10.11

PC or CX (x64)

Tc3_Mc3PlanarMotion, Tc3_Physics