MC_MovePath

This function block (FB) serves to execute a provided path file.

The path file is provided via the PathRef input.

The path file is of the MC_PATH_REF type and can for instance be decoded from the L_MC4P_PathRefFromFile function block.

The L_MC4P_PathRefFromFile function block must be directly connected to the PathRef input of the MC_PATH_REF type of the MC_MovePath; e.g. PathData input of the MC_MovePath FB

Call of the FB in the PLC program

The FB must be called cyclically.

Programming example:

MC_MovePath.PathRef:= L_MC4P_PathRefFromFile1

Danger!

All paths must be first tested with override or in the simulation mode with virtual axes!

Note

Cartesian path movements (CP) can only be executed if all drive axes are referenced to the zero positions defined in the " Supported kinematics " section.

		MC_MovePath

AXES_GROUP_KIN	-	AxesGROUP	Done	-	BOOL
MC_PATH_REF	-	PathRef	Busy	-	BOOL
Bool	-	Execute	Active	-	BOOL
LREAL	-	Velocity	CommandAborted	-	BOOL
LREAL	-	Acceleration	Error	-	BOOL
LREAL	-	Deceleration	ErrorID	-	L_IE1P_Error
LREAL	-	Jerk	SourceLineNo	-	LINT
L_MC4P_CoordSystem	-	CoordSystem	SourceLine	-	STRING
MC_BUFFER_MODE	-	BufferMode	MFunction	-	WORD
MC_TRANSITION_MODE	-	TransitionMode	WaitingForMAcknowledge	-	BOOL
ARRAY[1..12]OF LREAL	-	TransitionParameter	NewValueMFunction	-	BOOL
ENUM	-	Mode	WaitingForAckPathHalt	-	BOOL
BOOL	-	AckPathHalt	WaitingForAckBlockSearch	-	BOOL
BOOL	-	MAcknowledge
BOOL	-	AckBlockSearch

Inputs/outputs

Name Data type	Information/possible settings
AxesGROUP AXES_GROUP_KIN	axes group reference

Name

Data type

Information/possible settings

AxesGROUP

AXES_GROUP_KIN

axes group reference

Inputs

Name Data type	Information/possible settings
PathRef MC_PATH_REF	The path file can for instance be decoded from the L_MC4P_PathRefFromFile function block.
Execute BOOL	The rising edge FALSE->TRUE starts the interpolation of the path file
Velocity LREAL	Maximum velocity in [unit/s] for approaching the target position. Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity. The Velocity path parameter setting applies to the segments from the path file until another parameter (F) is selected in the path file.
Acceleration LREAL	Maximum acceleration in [unit/s²]. The Acceleration parameter applies to the segments from the path file until another parameter (E) is selected in the path file.
Deceleration LREAL	Maximum deceleration in [unit/s³]. The Deceleration parameter applies to the segments from the path file until another parameter (E) is selected in the path file.
Jerk LREAL	Maximum jerk in [unit/s3]. The Jerk parameter applies to the segments from the path file until another parameter is selected in the path file.
CoordSystem L_MC4P_CoordSystem	The CoordSystem input serves to define the reference coordinate system for the path from the path file. The reference coordinate system remains active until another coordinate system (G53 ... G59) is defined in the program of the path file.
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands. The setting via the Buffer mode input applies to the segments from the path file fas long as no other mode is selected in the path file (G50, G51). The mcAborting mode acts once for approaching the first segment from the path file. The other segments in the path file are executed with the mcBuffered mode as long as no other mode is selected in the path file.
TransitionMode MC_TRANSITION_MODE	Mode for the path behaviour between the segments TransitionMode and TransitionParameter The setting via the TransitionMode input applies to the segments from the path file as long as no other mode is selected in the path file (G50, G51, and D).
TransitionParameter ARRAY [1..12] OF LREAL	Description of the TransitionParameter parameter Parameter for "Transition loops" Only relevant if TransitionMode = TMCornerDistance has been selected. * TransitionParameter[1] Specification of the grinding radius of the starting point or to the previous movement as a symmetrical distance in [mm]. Value is used if TransitionParameter[1] > 0 * TransitionParameter[2] Specification of the blending radius of the starting point or the previous movement relative to half the path length of the movements in [%]. Value is used if TransitionParameter[1] = 0 and TransitionParameter[2] > 0 * TransitionParameter[3...12] Reserved for future functional enhancements * The parameterization of the transitions between the segments via the TransitionParameter input applies until another parameter (D) is selected in the path file. This parameter D in the path file internally overwrites the TransitionParameter[1].
Mode ENUM	0: DefaultInterpolation 1: SingleStep
AckPathHalt BOOL	Acknowledgement of a breakpoint.
MAcknowledge BOOL	Acknowledgement of the active M-function
AckBlockSearch BOOL	Acknowledgement of the start block search

Name

Data type

Information/possible settings

PathRef

MC_PATH_REF

The path file can for instance be decoded from the

L_MC4P_PathRefFromFile function block.

Execute

BOOL

The rising edge FALSE->TRUE starts the interpolation of the path file

Velocity

LREAL

Maximum velocity in [unit/s] for approaching the target position.

Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity.

The Velocity path parameter setting applies to the segments from the path file until another parameter (F) is selected in the path file.

Acceleration

LREAL

Maximum acceleration in [unit/s²].

The Acceleration parameter applies to the segments from the path file until another parameter (E) is selected in the path file.

Deceleration

LREAL

Maximum deceleration in [unit/s³].

The Deceleration parameter applies to the segments from the path file until another parameter (E) is selected in the path file.

Jerk

LREAL

Maximum jerk in [unit/s3].

The Jerk parameter applies to the segments from the path file until another parameter is selected in the path file.

CoordSystem

L_MC4P_CoordSystem

The CoordSystem input serves to define the reference coordinate system for the path from the path file.

The reference coordinate system remains active until another coordinate system (G53 ... G59) is defined in the program of the path file.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands.

The setting via the Buffer mode input applies to the segments from the path file fas long as no other mode is selected in the path file (G50, G51).

The mcAborting mode acts once for approaching the first segment from the path file. The other segments in the path file are executed with the mcBuffered mode as long as no other mode is selected in the path file.

TransitionMode

MC_TRANSITION_MODE

Mode for the path behaviour between the segments TransitionMode and TransitionParameter

The setting via the TransitionMode input applies to the segments from the path file as long as no other mode is selected in the path file (G50, G51, and D).

TransitionParameter

ARRAY [1..12] OF LREAL

Description of the TransitionParameter parameter

Parameter for "Transition loops"

Only relevant if TransitionMode = TMCornerDistance has been selected.

* TransitionParameter[1]

Specification of the grinding radius of the starting point or to the previous movement as a symmetrical distance in [mm].

Value is used if TransitionParameter[1] > 0

* TransitionParameter[2]

Specification of the blending radius of the starting point or the previous movement relative to half the path length of the movements in [%].

Value is used if TransitionParameter[1] = 0 and TransitionParameter[2] > 0

* TransitionParameter[3...12]

Reserved for future functional enhancements

* The parameterization of the transitions between the segments via the TransitionParameter input applies until another parameter (D) is selected in the path file.

This parameter D in the path file internally overwrites the TransitionParameter[1].

Mode

ENUM

0: DefaultInterpolation

1: SingleStep

AckPathHalt

BOOL

Acknowledgement of a breakpoint.

MAcknowledge

BOOL

Acknowledgement of the active M-function

AckBlockSearch

BOOL

Acknowledgement of the start block search

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE: Interpolation of the path file completed successfully.
Busy BOOL	Processing is running. The " busy " output matters if a motion control is carried out by several FBs (BufferMode)
Active BOOL	TRUE: The command of the FB is currently executed.
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.
SourceLineNo LINT	The line number of the path from the ASCII file currently to be executed. The number is displayed that is read in the ASCII file under the "N" address. If no "N" address is available in the program, the line number actually read is displayed.
SourceLine STRING	Here the line from the program currently being executed is displayed as a string without comments. In the event of an error, the line with the syntax error is displayed.
MFunction WORD	Active M-function
WaitingForMAcknowledge BOOL	Status: waiting for acknowledgement of an M-function
NewValueMFunction BOOL	Trigger signal: new M-function available. This signal is set to HIGH level when the M-function is changed for one cycle.
WaitingForAckPathHalt BOOL	Status: waiting for acknowledgement of a path halt function
WaitingForAckBlockSearch BOOL	Status: waiting for acknowledgement of a block search function

Name

Data type

Value/meaning

Done

BOOL

TRUE: Interpolation of the path file completed successfully.

Busy

BOOL

Processing is running.

The " busy " output matters if a motion control is carried out by several FBs (BufferMode)

Active

BOOL

TRUE: The command of the FB is currently executed.

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.

SourceLineNo

LINT

The line number of the path from the ASCII file currently to be executed.

The number is displayed that is read in the ASCII file under the "N" address.

If no "N" address is available in the program, the line number actually read is displayed.

SourceLine

STRING

Here the line from the program currently being executed is displayed as a string without comments.

In the event of an error, the line with the syntax error is displayed.

MFunction

WORD

Active M-function

WaitingForMAcknowledge

BOOL

Status: waiting for acknowledgement of an M-function

NewValueMFunction

BOOL

Trigger signal: new M-function available.

This signal is set to HIGH level when the M-function is changed for one cycle.

WaitingForAckPathHalt

BOOL

Status: waiting for acknowledgement of a path halt function

WaitingForAckBlockSearch

BOOL

Status: waiting for acknowledgement of a block search function