Realization in AC500

• Overview
• General Rules
• Create a Group
• State Transitions
• General Restrictions
• Usage of Function Blocks
• Coordinate Transformations
  • Structure of TRANSFORMATION_1_1
  • Change of Configurations
• PCS (Product Coordinate System)
  • How to Switch the Coordinate System
  • How to teach the Conversion Matrix
• Dynamic Coordinate Transformation
• ABB Specific Data Structures
  • Data Structures to be Used for MCS-PCS Transformation
  • Data Structures to be Used for Moving the Group on a Path
  • Example for Using the Path Data
  • Interpolation Modes available for MC_MovePath