General Restrictions¶
| Administrative | Motion | |
|---|---|---|
| Coordinated | Coordinated | Synchronized |
| MC_GroupEnable | MC_GroupStop | MC_SyncAxisToGroup |
| MC_GroupDisable | MC_GroupHalt | MC_SyncGroupToAxis |
| MC_SetCartesianTransform | MC_GroupInterrupt | |
| MC_SetCoordinateTransform | MC_GroupContinue | |
| MC_ReadCartesianTransform | MC_MoveLinearAbsolute | |
| MC_ReadCoordinateTransform | MC_MoveLinearRelative | |
| MC_GroupReadActualPosition | MC_MoveCircularAbsolute | |
| MC_GroupReadActualVelocity | MC_MoveCircularRelative | |
| MC_GroupReadStatus | MC_MoveDirectAbsolute | |
| MC_PathSelect | MC_MoveDirectRelative | |
| MC_MovePath | ||
| Function Block | Comment |
|---|---|
MCA_SetCoordinateTransformation |
Replaces MC_SetCartesianTransform |
MCA_SetDynamicFollower |
Replaces MC_TrackRotaryTable, MC_TrackConveyorBelt and MC_SetDynCoordTransform |
MCA_PathEvent |
Set a binary signal output related to path positions |
MCA_MoveHelixRelative |
Allows a circular movement > 2Pi and a coordinated vertical movement |
MCA_MovePathPos |
A path movement with an included previous positioning to start position |
Restrictions to be considered
The following extended inputs and outputs at the Function Blocks are not realized:
- BufferedMode: The realization just supports by default the “Aborting” mode.
- TransitionMode: The realization just supports by default a transition starting with the actual velocity.
- TransitionParameter:Not supported.
- CoordSystem: Set by default when using the specific group or Function Block.
When CoordSystem is available as an input, the type is MC_COORD_SYSTEM with values:
- MC_DEFAULT_COORD = the last activated coordinate system, MCS or PCS
- MC_MCS_COORD
- MC_PSC_COORD
A movement which is executed in a specific coordinate system also switches the group to the specified system.
To access the axes in ACS system, specific Function Blocks are used or the information has to be retrieved from the ACS axes directly.