Overview of the new functions

Advanced Motion Pack starting with Version V4.0.12:

• New: Workload includes the PlanarMotionUI and AmpClassic packages; see Manual Adjustments XAE.
• AmpClassic starting with Version V4.0.12:
• New: GapMode “Standard2D” and “Fast2D” for the MoveOnTrack command.
• PlanarMotionUI starting with version V1.0.65:
• New: The “On track information” for the Planar Mover can be displayed.
• New: The geometric information for a track can be displayed.
• New: The “Direction” input parameter for the MoveOnTrack command is available.
• New: Stop button available in the Planar Mover’s app bar.
• New: Column filters for the Planar Movers overview page.
• New: Maximum and default dynamics for the movement commands can be set.
• New: Fixed values in the dynamics inputs are displayed along with their names.

PlanarMotionUI starting with version V1.0.60:

• New: Planar environment UI with a 2D positioning interface.
• New: "AddAllObjectsToGroup" functionality in the Planar group UI.
• New: Step-by-step functionality for the command sequencer.

AmpClassic starting with version V4.0.6:

• New: The TwinCAT.XAR.AdvancedMotion package has been discontinued. The TwinCAT.XAE.AdvancedMotion package is being replaced by the TwinCAT.XAE.TMX.Motion.MC3.Base and TwinCAT.XAE.TMX.Motion.AmpClassic packages:
• Two versioned drivers (Base_Core.tmx, AmpClassic_Core.tmx) instead of one unversioned driver (Nc3.sys) -> no more runtime components.
• Both packages/drivers must be of the same version; this must be configured in the project.
• Incompatible changes in the project; see: Adjustments XAE performed manually.
• New: Logging of all synchronously rejected commands for the Planar mover, Planar track, Planar group, and Planar environment.
• New: Position limits for all individual coordinate movements.
• New: Detailed online information on following error monitoring.
• New: Parameters for modulo positioning of the C axis in the MoveToPosition, JoinTrack, and LeaveTrack commands.
• New: Coordinate-based stop commands and the StopOnTrack command for the Planar mover.
• Requires TwinCAT V3.1.4026.23.1 or higher.

From version V3.4.64:

• New: Optional logging of all incoming commands for the Planar track, Planar group, and Planar environment.

From version V3.4.60:

• New: Detailed online information for commands in the mover's OnTrack mode.

From version V3.4.45:

• New: For the installation under TwinCAT 3.1.4026 there are independent packages for the libraries Tc3_Mc3PlanarMotion and Tc3_Physics. The libraries are still included in the workload installation TF5400.AdvancedMotion.XAE.
• TwinCAT.XAE.PLC.Lib.Tc3_Mc3PlanarMotion
• TwinCAT.XAE.PLC.Lib.Tc3_Physics
• New: Support of independent movement in X and Y coordinate direction and extension of X, Y and C coordinate movement (MoveVelocity and MoveRelative).
• New: Support for the Planar Motion user interface with the TwinCAT.XAE.UI.Motion.MC3.PlanarMotion package (requires at least TwinCAT V3.4.4026.21).
• New: Creation of a TwinCAT Scope configuration for a mover with one click. Requires at least TwinCAT V3.4.4026.21 and TE1300.ScopeViewProfessional.XAE.
• New: All methods of PLC objects now have default values for optional method parameters. These parameters can be omitted accordingly.

From version V3.4.19:

• New: Optional logging of all incoming commands for the Planar mover
• New: The internal revolution counter for the C coordinate is reset when the mover is no longer on the system.

From version V3.3.77:

• New: Additional option for the MoveOnTrack command (“DynamicsReductionMode”)

From version V3.3.62:

• New: Support for Bode plot in all coordinates of the Planar mover (requires TE1320 TwinCAT 3 BodePlot Base v34.48.35 or higher)

From version V3.3.39:

• New: Support for tiles with a side length of 160 mm and/or 320 mm
• New: Additional option for the MoveOnTrack command (“GapMode”)
• New: “MoverHardwareOid” property and “GetTrackTrailInformation” method of the MC_PlanarMover in the PLC

From version V3.3.19:

• New: Timeouts for the state transitions (Enabling, Disabling, Resetting) of the Planar state machine for Planar movers and Planar parts
• New: A large part of the initial parameters of the Planar mover can be changed in the Enabled state (previously only in Disabled)

From version V3.2.60:

• New: The surface that the movers travel on is divided into Planar parts that can be moved during runtime. Movers can cross limits between connected or adjacent Planar parts.
• Requires TwinCAT V3.1.4024.40 or higher

From version V3.1.10.63:

• Requires TwinCAT V3.1.4024.24 or higher

From version V3.1.10.51:

• New: AdoptTrackOrientation rotates the mover on the track to align it with the track orientation. This changes the C coordinate mode from independent to dependent.
• Advanced: MoveC now always works for standing movers on the track. This may change the C coordinate mode from dependent to independent.

From version V3.1.10.44:

• New: GearInPosOnTrack and GearInPosOnTrackWithMasterMover commands for coupling a Planar mover to a master axis or a master mover, respectively
• Advanced: Parameters of the Planar track TcCOM module
• Requires TwinCAT V3.1.4024.17 or higher

From version V3.1.10.30:

• New: CRotation command mode (360° rotation) with modulo positioning
• New: Constraints as a new variant to limit the dynamics of the motion commands
• Advanced: Parameters for modulo positioning on “Closed Loop” tracks

From version V3.1.10.11:

• First version of Planar motion released
• Requires TwinCAT V3.1.4024.12 or higher