Input Description

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Function Block MCA_SetDynamicFollower

Note

The inputs marked with a triangle b2fdf116f269f92f0a331390014ce162_78f228175b765b440a33139001315693 are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.

Note

This block has to be called from the same task as CMC_MOTION_KERNEL_REAL.

Enable

Data type: BOOL

Activate/deactivate the dynamic coordinate transformation.

TransX

Data type: LREAL

Distance in X-direction.

TransY

Data type: LREAL

Distance in Y-direction.

TransZ

Data type: LREAL

Distance in Z-direction.

RotAngleX

Data type: LREAL, unit: rad

Rotation angle in X-direction.

RotAngleY

Data type: LREAL, unit: rad

Rotation angle in Y-direction.

RotAngleZ

Data type: LREAL, unit: rad

Rotation angle in Z-direction.

SyncStartTime

Data type: LREAL, unit: ms

A time used to synchronize to a moving transformation.

SyncStartOption

Data type: BOOL

This option will result in a different synchronization profile. FALSE: Synchronize to the position where the Function Block was enabled, move opposite direction if necessary, this is a “CATCH UP” mode. TRUE: Allow a distance to synchronize. A later movement will nevertheless reach the same positions, just the synchronization process differs.

AxesGroup

Data type: AXES_GROUP_REF

Reference to a group of axes.