Input Description

Function Block COMC_GROUP_CARTESIAN

Note

The inputs marked with a triangle are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.

Enable

Data type: BOOL

Release of Function Block.

CYCLE

Data type: INT

Cycle time of the PLC task in ms.

N_ACS

Data type: INT

Number of ACS Axes

ACS_AXES

Data type: POINTER TO ARRAY[1..3] OF POINTER TO AXIS_REF

Access to the machine axes, the number is variable and the array might have a different number of elements. It depends on the used coordinate transformation

MCS_AXES

Data type: POINTER TO ARRAY[1..3] OF POINTER TO AXIS_REF

Access to the Cartesian axes. These have to be 3 axes, for X, Y, Z coordinate in a right handed coordinate system

GROUP

Data type: AXES_GROUP_REF

Group reference