MC_MovePath – General spatial trajectory generation

Block SymbolLicensing group: COORDINATED MOTION CONTROL
PIC

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

Inputs

uAxesGroup

Axes group reference

reference

Execute

The block is activated on rising edge

bool

TotalTime

Time [s] for whole move

double

RampTime

Time [s] for acceleration/deceleration

double

CoordSystem

Reference to the coordinate system used

long

1 ....

ACS

2 ....

MCS

3 ....

PCS

BufferMode

Buffering mode

long

1 ....

Aborting

2 ....

Buffered

3 ....

Blending low

4 ....

Blending high

5 ....

Blending previous

6 ....

Blending next

TransitionMode

Transition mode in blending mode

long

1 ....

TMNone

2 ....

TMStartVelocity

3 ....

TMConstantVelocity

4 ....

TMCornerDistance

5 ....

TMMaxCornerDeviation

11 ...

Smooth

TransitionParameter

Parametr for transition (depends on transition mode)

double

RampIn

RampIn factor (0 = RampIn mode not used)

double

Parameters

pc

Control-points matrix  [0.0 1.0 2.0; 0.0 1.0 1.0; 0.0 1.0 0.0]

double

pk

Knot-points vector  [0.0 0.0 0.0 0.0 0.5 1.0 1.0]

double

pw

Weighting vector  [1.0 1.0 1.0]

double

pv

Polynoms for feedrate definition  [0.0 0.05 0.95; 0.0 0.1 0.1; 0.0 0.0 0.0; 0.1 0.0 -0.1; -0.05 0.0 0.05; 0.0 0.0 0.0]

double

pt

Knot-points (time [s]) for feedrate  [0.0 1.0 10.0 11.0]

double

user

Only for special edit  [0.0 1.0 2.0 3.0]

double

Outputs

yAxesGroup

Axes group reference

reference

Done

Algorithm finished

bool

CommandAborted

Algorithm was aborted

bool

Busy

Algorithm not finished yet

bool

Active

The block is controlling the axis

bool

Error

Error occurred

bool

ErrorID

Error code

error

i ....

REX general error