MC_SetCartesianTransform MCS to PCS

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Function Block MC_SetCartesianTransform

This Function Block sets a Cartesian transformation between the MCS and PCS.

The transformation will be activated on the next group movement, e.g. MC_MoveLinearAbsolute. When the block is activated, it first will be “Busy”. The Group will activate the transformation on the next movement, the block changes to “Done”. The transformation will be used until an other transformation is activated.

  • First, the rotation is applied in Z/Y/X direction and then the translation, with respect to the already rotated coordinate system. When it is more reasonable to apply first the translation, this could be done with feeding the translation values to MC_SetCoordinateTransform. This Function Block (or MCA_SetCoordinateTransformation) is a precondition for the use of MC_SetCartesianTransform.
  • De-selection of PCS can be done by a execution of this Function Block with {TransX, TransY, TransZ, RotAngleX, RotAngleY, RotAngleZ }={0, 0, 0, 0, 0, 0} as translation and rotation input values.
  • The values could as well be modified dynamically.
  • A precondition for the use of MC_SetCartesianTransform is to activate a PCS first by MC_SetCoordianteTransform or MCA_SetCoordinateTransformation. A neutral transformation could be used for this which is available from the library as CoordTransform_neutral.
  • The transformation is combined with a block using “CoordTransform” but it is not possible to combine it with a different block using translation vectors and rotation angles. In combination with CoordTransform, the CoordTransform is executed first.

The transformation will be activated on the next group movement, e.g. MC_MoveLinearAbsolute. When the Function Block is activated, it first will be “Busy”. The Group will activate the transformation on the next movement, the Function Block changes to “Done”. The transformation will be used until an other transformation is activated.

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Definition of the translation

This Function Block is only supported for PLC-based central Motion Control with Coordinated Motion structures.

Example of the Definition fo the Rotation

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The rotation is defined by a subsequent rotation around every coordinate direction beginning with the Z-direction.

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Definition of the rotation