MC_TrackRotaryTable

This FB can be used to synchronize a kinematic system with a rotary table. This makes it possible to pick up or place workpieces synchronized from a moving rotary table. For this purpose, the FB calculates a dynamic Product Coordinate System (PCS) after the call. If a motion-guiding FB (e.g. MC_MoveLinearAbsolute ) is called in the same coordinate system, the FB synchronizes the movement with the moving PCS.

Note!

The AXIS_REF RotaryTable at the input of the function block must be configured so that a full rotation of the rotary table is displayed as 360Units = 360°.

Note!

Synchronization with a rotary table is only possible with Cartesian movement commands (e.g. MC_MoveLinearAbsolute, MC_MoveCircularAbsolute, ...). Single-axis commands or MC_MoveDirect movements cannot be combined with tracking..

		MC_TrackRotaryTable
AXES_GROUP_KIN	-	AxesGroup	Done	-	BOOL
AXES_REF	-	RotaryTable	Busy	-	BOOL
BOOL	-	Execute	Active	-	BOOL
BOOL	-	Abort	CommandAborted	-	BOOL
ARRAY[1..12] OF LREAL	-	RotaryTableOrigin	Error	-	BOOL
ARRAY[1..12] OF LREAL	-	InitialObjectPosition	ErrorID	-	L_IE1P_Error
L_MC4P_CoordSystem	-	CoordSystem	InSync	-	BOOL
L_MC4P_CoordType	-	CoordType	DynPCSSet	-	BOOL
LREAL	-	ClutchDistance
LREAL	-	ClutchTime
LREAL	-	ClutchTimeAbort
BOOL	-	SetDynPCS

Input

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	Axis group reference
RotaryTable AXIS_REF	Axis reference
Execute BOOL	FALSE ä TRUE	Start processing: Monitor the movement of the rotary table cyclically and wait for the start of a movement in the CoordSystem coordinate system
Abort BOOL	FALSE ä TRUE	The current processing is canceled and the axle group is disengaged. To disengage, the time specified at input ClutchTimeAbort input is used for disengagement.
RotaryTableOrigin ARRAY [1..6] OF LREAL	Position and alignment of the Rotary Table coordinate system from the perspective of the WCS.
InitialObjectPosition ARRAY [1..6] OF LREAL	Position and orientation of the dynamic PCS at the time Execute = FALSE ä TRUE The position must be specified in the coordinate system of the Rotary Table in cylindrical coordinates. (see example: Position of the three coordinate systems in relation to each other )
CoordSystem L_MC4P_CoordSystem	Select the PCS coordinate system to be used: PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)
CoordType L_MC4P_CoordType	Type of PCS to be generated: Cartesian: Cartesian coordinates Cylindric: Cylindrical coordinates
ClutchDistance LREAL	Coupling and decoupling distance in [units] Distance covered by the master until the clutch is fully engaged and disengaged.
ClutchTime LREAL	Coupling and decoupling time in [s] Time until engagement and disengagement is complete.
ClutchTimeAbort LREAL	Decoupling time in [s] Decoupling time when tracking is aborted via the input Abort . Note: If no value is entered, i.e ClutchTimeAbort = 0, the value from ClutchTime is adopted.
SetDynPCS BOOL	FALSE ä TRUE	Opposite to the Execute delayed setting of the PCS. See section Delayed setting of the PCS

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

Axis group reference

RotaryTable

AXIS_REF

Axis reference

Execute

BOOL

FALSE ä TRUE

Start processing:

Monitor the movement of the rotary table cyclically and wait for the start of a movement in the CoordSystem coordinate system

Abort

BOOL

FALSE ä TRUE

The current processing is canceled and the axle group is disengaged. To disengage, the time specified at input ClutchTimeAbort input is used for disengagement.

RotaryTableOrigin

ARRAY [1..6] OF LREAL

Position and alignment of the Rotary Table coordinate system from the perspective of the WCS.

InitialObjectPosition

ARRAY [1..6] OF LREAL

Position and orientation of the dynamic PCS at the time Execute = FALSE ä TRUE

The position must be specified in the coordinate system of the Rotary Table in cylindrical coordinates. (see example: Position of the three coordinate systems in relation to each other )

CoordSystem

L_MC4P_CoordSystem

Select the PCS coordinate system to be used:

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

CoordType

L_MC4P_CoordType

Type of PCS to be generated:

Cartesian: Cartesian coordinates

Cylindric: Cylindrical coordinates

ClutchDistance

LREAL

Coupling and decoupling distance in [units]

Distance covered by the master until the clutch is fully engaged and disengaged.

ClutchTime

LREAL

Coupling and decoupling time in [s]

Time until engagement and disengagement is complete.

ClutchTimeAbort

LREAL

Decoupling time in [s]

Decoupling time when tracking is aborted via the input Abort .

Note:

If no value is entered, i.e ClutchTimeAbort = 0, the value from ClutchTime is adopted.

SetDynPCS

BOOL

FALSE ä TRUE

Opposite to the Execute delayed setting of the PCS.

See section Delayed setting of the PCS

Outputs

Name Data type	Value/meaning
Done BOOL	TRUE	Processing successfully completed.
Busy BOOL	TRUE	Execution in progress. The dynamic PCS is calculated cyclically. The FB is ready to synchronise a movement instructed by MC_Move... .
Active BOOL	TRUE	The FB is currently being executed and superimposes a movement instructed by MC_Move... .
CommandAborted BOOL	TRUE	The command was interrupted by another FB or the Abort input.
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.
InSync BOOL	TRUE	Kinematics move synchronously with the conveyor belt.
DynPCSSet BOOL	TRUE	Dynamic PCS is set and can be used.

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