COMC_GROUP_CARTESIAN¶
Function Block COMC_GROUP_CARTESIAN
| Available as of PLC runtime system | V1.2 and above |
| Included in library | CoordinatedMotion_AC500_V21.LIB |
| Type | Function Block with historical values |
This Function Block has to be called every cycle and at least once before any MC… Function Block is activated.
The MCS axes form a cartesian system according to the “right hand rule”. These axes are fix, so it is not possible to add or remove an axis. When just 2 dimensions are needed, a dummy-axis which runs on simulation should be created.
The addresses should be calculated as follows:
This should be done every cycle as on an online change, addresses of variables might be changed. The actual address has to be provided to the block in every cycle.
The different elements are linked by ADR operator.
The number of ACS axes is flexible, although an array with 3 elements is used as type. A larger array could be used instead and the number of elements be provided at N_ACS.