MC_SetCartesianTransform (MCS <--> PCS)

This FB serves to parameterise a Cartesian transformation between MCS and PCS for an axes group.

  • The PCS can be reset to the output state by executing the FB with the following input values:
    { TransX , TransY , TransZ , RotAngle1 , RotAngle2 , RotAngle3 }={0, 0, 0, 0, 0, 0}
  • This is an administrative FB as no motion command is generated.
Note!

Observe the following when using 4D kinematics:

If a motion is programmed via a product coordinate system (e.g. target position given in PCS_4: MC_MoveLinearAbsolute1.CoordSystem := L_MC4P_CoordSystem.PCS_4), the z axis must be aligned to or opposed to the z axis of the WCS!

See also: Special handling of 4D kinematics

 

 

 

MC_SetCartesianTransform

 

 

 

AXES_GROUP_REF

-

AxesGroup

Done

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

L_MC4P_CoordSystem

-

CoordSystem

Active

-

BOOL

LREAL

-

TransX

Error

-

BOOL

LREAL

-

TransY

ErrorID

-

L_IE1P_Error

LREAL

-

TransZ

LREAL

-

RotAngle1

LREAL

-

RotAngle2

LREAL

-

RotAngle3

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_REF

axes group reference

Execute

BOOL

FALSE รค TRUE

Accept parameter of the coordinate system to the axes group.

CoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system, the transformation of which is to be parameterised:

  • PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Coordinate systems and transformations

TransX/Y/Z

LREAL

X/Y/Z component of the transformation

RotAngle1...3

LREAL

A/B/C component of the transformation

Outputs

Name

Data type

Value/meaning

Done

BOOL

TRUE

Processing successfully completed.

Busy

BOOL

TRUE

Processing is running.

Active

BOOL

TRUE

The command of the FB is currently executed.

  • The Active output matters if a motion control is carried out by several FBs (BufferMode).

CommandAborted

BOOL

TRUE

The command was aborted by another FB.

Error

BOOL

TRUE

An error has occurred. For details see ErrorID .

ErrorID

L_IE1P_Error

If Error = TRUE: Error number for the error that has occurred.