MCA_SetDynamicFollower¶
Function Block MCA_SetDynamicFollower
This Function Block activates a dynamic coordinate transformation and allows to follow a moving product. It replaces the functionality of MC_TrackConveyorBelt and MC_TrackRotaryTable.
Activate a PCS first by MC_SetCoordianteTransform or MCA_SetCoordinateTransformation.
- The group is not allowed to be in any moving state when the block is activated.
- As soon as “Busy” is shown, it is allowed to start a movement.
When a synchronization to a moving coordinate system is performed, the Function Block allows to synchronize the group to this movement with a ramp. The two inputs SyncStartTime and SyncStartOption are available to configure the synchronization process.
A synchronization is performed with SyncStartTime > 0. The group will need SyncStartTime ms to do this. A polynomial movement is used and the result is superimposed to any other movement. The PCS position will stay constant during this process, just the ACS is moving. The process is ready when the Function Block shows INSYNC. A group movement can be started as soon as Busy = TRUE.
With Enable = FALSE, the Function Block is deactivated. This is always done without any ramp. When a ramp is needed, this has to be achieved by activating an other instance of this Function Block.
| SyncStartTime | SyncStartOption | Behavior |
|---|---|---|
| 0 | - | The group will follow the PCS coordinate system without synchronization process. |
| > 0 | FALSE | After the synchronization, the ACS and MCS positions will have the same values as if SyncStartTime = 0 would have been used. |
| > 0 | TRUE | After the synchronization, the ACS and MCS positions will be shifted by the position distance which was needed to synchronize. |
The Function Block performs first a rotation with the X/Y/Z-axis as axis of rotation and then a translation in X/Y/Z-direction. The result is a modified PCS coordinate system.
The transformation moves the coordinate system in parallel to the X/Y plane when no rotation using the X- or Y-axis is performed.
MCA_SetDynamicFollower Rotation angle
This Function Block is only supported for PLC-based central Motion Control with Coordinated Motion structures.