MC_SetCoordinateTransform (MCS <--> PCS)
This FB serves to parameterise a coordinate transformation between MCS and PCS for an axes group.
- This is an administrative FB as no motion command is generated.
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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 |
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MC_SetCoordinateTransform |
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AXES_GROUP_REF |
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AxesGroup |
Done |
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BOOL |
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BOOL |
- |
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Execute |
Done |
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BOOL |
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L_MC4P_CoordSystem |
- |
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CoordSystem |
Busy |
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BOOL |
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MC_COORD_REF |
- |
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CoordTransform |
Active |
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BOOL |
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Error |
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BOOL |
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ErrorID |
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L_IE1P_Error |
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Inputs
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Name Data type |
Information/possible settings |
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AxesGroup AXES_GROUP_REF |
axes group reference |
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Execute BOOL |
FALSE รค TRUE |
Accept parameter of the coordinate system to the axes group. |
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CoordSystem |
Selection of the coordinate system, the transformation of which is to be parameterised:
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CoordTransform MC_COORD_REF |
Reference to the coordinate transformation (including parameters) |
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Coordinate systems and transformations
Outputs
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Name Data type |
Value/meaning |
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Done BOOL |
TRUE |
Processing successfully completed. |
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Busy BOOL |
TRUE |
Processing is running. |
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Active BOOL |
TRUE |
The command of the FB is currently executed.
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Error BOOL |
TRUE |
An error has occurred. For details see ErrorID . |
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ErrorID |
If Error = TRUE: Error number for the error that has occurred.
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