Dynamic Coordinate Transformation¶
When a PCS is active, it is also possible to activate a dynamic coordinate transformation in addition which would allow move the axes in relation to a moving product. To do this, the Function Block “MCA_SetDynamicFollower” has to be used (also MC_SetCartesianTransform would be possible). With this Function Block, a movement in X and Y direction (related to PCS coordinates) and a rotation around the z-axis is possible.
Related to the FORWARD_MATRIX, this would mean:
With c = cos(alpha) and s = sin(alpha). Alpha is the angle used to turn around the z-axis. When transformations beyond the “MCA_SetDynamicFollower” options are needed, the matrix could be directly modified.
To move the product in the PCS X/Y plane, use MCA_SetDynamicFollower.
To turn the product around the Z-axis of PCS (e.g. rotary table), use MCA_SetDynamicFollower.
To do both above movements, use MCA_SetDynamicFollower.
Use MC_SetCartesianTransform or manipulate FORWARD_MATRIX and INVERSE_MATRIX accordingly.