Configuration
- In order to create a Planar track, an MC Configuration must first be created.
- 1. Select MOTION > Add New Item….
- 2. In the following dialog box, select MC Configuration and confirm with OK.
- You have created an MC Project.
- 3. Select MC Project > Groups > Add New Item….
- 4. In the following dialog box, create one (or more) Planar tracks and confirm with OK.
- The Planar track is now created and can be parameterized.
Open detailed description
- Select the Planar track in the tree and double-click it.
Purposes of the individual tabs
Object: General information (name, type, ID and so on) is shown here.
Parameter (Init): Specifies initial parameters that the user can change in order to affect the behavior of the track.
The initial parameters are first set so that the Planar track (ready linked) can be traversed with the hardware. If the movers on the track are larger or smaller, the two "Maximum mover width/height" parameters should be adjusted. The "Check collision against static objects" parameter determines whether a track in a Planar group is checked for collisions with other static objects (tracks/edge of the stator surface). The "Collision range mode" parameter determines whether the "Collision range at start/end" is specified by the user via the corresponding parameters or whether it is automatically calculated internally by the track. The "Collision range" is the distance from the start/end of the track from which a Planar mover is taken into account for collision avoidance for Planar movers on other tracks.
The hidden initial parameter "TraceLevel" influences how much information is logged (see Logging/Tracing).
The "Geometric information", "Closed loop", "Starts from tracks" and "Ends at tracks" parameters can be used to define the geometry of the track and its connection to other tracks. The parameters act exactly like the corresponding PLC commands.
The "PartOID" parameter specifies which part this track is permanently assigned to. If there is a unique part or the part feature is not used (no reading of the processing unit by the environment), the parameter does not need to be set. Otherwise, the parameter must be set so that the track starts up. All positions in the Init and online parameters (Geometric [online] information) are specified in this part system. The "Starts from tracks" and "Ends at tracks" parameters have been extended to reflect the additional functionality of the corresponding PLC commands for the part feature.
Init Parameters
|
Name |
Value |
Type |
PTCID |
Comment |
|---|---|---|---|---|
|
Maximal mover width |
155.0 |
LREAL |
#x050300B2 |
Maximal width for movers on the track, used for internal collision checks. |
|
Maximal mover height |
155.0 |
LREAL |
#x050300B3 |
Maximal height for movers on the track, used for internal collision checks. |
|
Check collisions against static objects |
FALSE |
BOOL |
#x050300B4 |
If TRUE, collisions are also checked against static objects, i.e. tracks and environment. |
|
Collision range at start |
250.0 |
LREAL |
#x050300BC |
Distance of a mover to the start of the track, where it does not interfere anymore with other tracks also originating from the start of this track. |
|
Collision range at end |
250.0 |
LREAL |
#x050300BD |
Distance of a mover to the end of the track, where it does not interfere anymore with other tracks also ending at the end of this track. |
|
Collision range mode |
0 |
MC_PLANAR_TRACK_COLLISION_RANGE_MODE |
#x050300D1 |
Either the collision range at start and end is calculated automatically when the track is enabled, or it is set manually by the user with the collision range parameters. |
|
PartOID |
|
OTCID |
#x050300E0 |
Object id of the PlanarPart the track is in. |
|
Geometric information |
|
array [1..Unbounded] of
|
#x050300D7 |
Array containing the elements describing the geometric curve of the track. |
|
Closed loop |
FALSE |
BOOL |
#x05030066 |
Bool setting the tracks init configuration to closed loop. |
|
Starts from tracks |
|
array [1..Unbounded] of
|
#x050300D8 |
Connection data of tracks where this track starts. |
|
Ends at tracks |
|
array [1..Unbounded] of
|
#x050300D9 |
Connection data of tracks where this track ends. |
Parameters (Online): Shows the state of the track at runtime, e.g. the number of Planar movers or the length.
The "Previous Tracks" and "Subsequent Tracks" parameters are arrays that contain the OIDs of all tracks directly before or directly after this track.
The "Geometric online information" parameter shows the geometry of the track available at runtime. This results from the corresponding initial parameter and/or the PLC commands used.
The "Closed loop online information" parameter specifies whether the track forms a closed loop (a circle).
Online Parameters
|
Name |
Type |
PTCID |
Comment |
|---|---|---|---|
|
Track length |
LREAL |
#x05030060 |
Length of the track (read only). |
|
GroupOID |
OTCID |
#x050300C3 |
Object id of the PlanarGroup the track is in, read only. |
|
State |
MC_PLANAR_STATE |
#x050300B6 |
State, read only. |
|
Operation mode |
MC_PLANAR_TRACK_OPERATION_MODE |
#x050300C4 |
Track state, read only. |
|
Mover count on track |
UDINT |
#x050300C5 |
Number of movers that are on this track, read only. |
|
Moving mover count |
UDINT |
#x050300C6 |
Number of movers that have requested a movement on the track, read only. |
|
Geometric online information |
array [1..Unbounded] of
|
#x050300DA |
Array containing the elements describing the geometric curve of the track. |
|
Previous tracks |
array [1..Unbounded] of
|
#x050300D5 |
Array containing the object IDs of all tracks that end at this track's start vertex, read only. |
|
Subsequent tracks |
array [1..Unbounded] of
|
#x050300D6 |
Array containing the object IDs of all tracks that start at this track's end vertex, read only. |
|
Closed loop online information |
BOOL |
#x050300E1 |
Bool indicating if the tracks online configuration is a closed loop. |
|
Movers on track |
array [1..Unbounded] of
|
#x05030149 |
Array containing the object IDs of all movers currently on this track (sorted). |
Data Area: Shows the memory area via which the track communicates with the PLC track.
Data Areas
McToPlc
Area No:
1
Type:
OutputSrc
Symbols
|
Name |
Type |
PTCID |
|---|---|---|
|
STD |
CDT_MCTOPLC_PLANAR_TRACK |
#x00000000 |