L_MC4P_RoboticHandling and L_MK4P_RoboticKinematics

This chapter describes all function blocks for coordinated multi-axes movements that are contained in the "L_MC4P_RoboticHandling" and "L_MK4P_RobotKinematics" function libraries.

Note!

For this, please observe the information and notes in the section
Coordinate systems and transformations .

Function blocks for administrative tasks

When calling the following function blocks, no movements are generated.

Function block	Info
MC_AddAxisToGroup	Assign an AxisRef to an AxesGroup
MC_GroupDisable	Inhibit one axes group (State change from "GroupStandby" to "GroupDisabled")
MC_GroupEnable	Enable one axes group (State change from "GroupDisabled" to "GroupStandby")
MC_GroupReadActualAcceleration	Read current acceleration of an axes group
MC_GroupReadActualPosition	Read current position of an axes group
MC_GroupReadActualVelocity	Read current velocity of an axes group
MC_GroupReadError	Read current error message of an axes group
MC_GroupReadStatus	Read current status of an axes group
MC_GroupReset	Reset error message of an axes group
MC_GroupSetPosition	Set the current position of the axes of an axes group to an absolute value or shift it by a relative position
MC_RemoveAxisFromGroup	Remove an AxisRef from an AxesGroup
MC_UngroupAllAxes	Remove all AxisRefs from an AxesGroup

Function blocks for coordinate transformation

The following function blocks serve to convert positions and orientations between different coordinate systems.

Function block	Info
MC_ReadCartesianTransform	Read parameters of the active Cartesian transformation (WCS <--> PCS)
MC_ReadCoordinateTransform	Read active coordinate transformation (WCS <--> PCS)
MC_SetCartesianTransform	Execute Cartesian transformation (WCS <--> PCS)
MC_SetCoordinateTransform	Execute coordinate transformation (WCS <--> PCS)
MC_TrackConveyorBelt	Synchronise an AxesGroup with a conveyor belt
MC_TrackRotaryTable	Synchronise an AxesGroup with a rotary table

Function blocks for coordinated multi-axes movements

Danger!

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

Function block	Info
L_MC4P_CallTrafo	Calling the transformation of the axis group
L_MC4P_MoveEllipticalAbsolute	Ellipse interpolation to an absolute position
L_MC4P_MoveEllipticalRelative	Ellipse interpolation to a relative position
L_MC4P_MoveSplineAbsolute	Spline interpolation to an absolute position
L_MC4P_MoveSplineRelative	Spline interpolation to a relative position
MC_GroupHome	Reference axes in an axes group ("reference search")
MC_GroupStop	Stop axes group in a controlled way (command cannot be interrupted)
MC_MoveCircularAbsolute	Circular interpolation to an absolute position
MC_MoveCircularRelative	Circular interpolation to a relative position
MC_MoveDirectAbsolute	Direct motion to an absolute position
MC_MoveDirectRelative	Direct motion to a relative position
MC_MoveLinearAbsolute	Linear interpolation to an absolute position
MC_MoveLinearRelative	Linear interpolation to a relative position
MC_MovePath	Execute an existing path file

Function blocks for torque feedforward control

Funktionsbaustein	Info
L_MK4P_DynamicParDelta3_3dof	Parameterization of the torque pre-control for Delta3_3dof axes groups
L_MK4P_DynamicParDelta3_4dof	Parameterization of the torque pre-control for Delta3_4dof axes groups
L_MK4P_DynamicParScara_3dof	Parameterization of the torque pre-control for Scara_3dof axes groups
L_MK4P_DynamicParScara_4dof	Parameterization of the torque pre-control for Scara_4dof axes groups

Additional blocks for Lenze-specific functions

Function block	Info
L_MC4P_AxesGroupBasicControl
L_MC4P_GetActiveTool	Read out the active tool of the axes group and its parameters
L_MC4P_GroupDigitalSwitchHandler	Function module for managing switching functions
L_MC4P_GroupPower	Switch on/off the single axes belonging to an axes group by means of the software (enable/inhibit)
L_MC4P_GroupSetOverride	Extend the motions of an axes group chronologically
L_MC4P_GroupWaitTime	Enter a break between two motion segments
L_MC4P_LimitDynamicsAuxAxes	Restrict the limitations of the auxiliary axes of an axes group in the path planning from the application
L_MC4P_LimitDynamicsMainAxes	Restrict the limitations of the Cartesian main axes of an axes group in the path planning from the application
L_MC4P_LimitDynamicsRealAxes	Restrict the limitations of the drive axes of an axes group in the path planning from the application
L_MC4P_MoveEllipticalAbsolute	Move the axes group to an absolute position along an elliptical path in the specified coordinate system
L_MC4P_MoveEllipticalRelative	Move the axes group to a relative position along an elliptical path in the specified coordinate system
L_MC4P_MoveSplineAbsolute	Move axes group along a spline in the specified coordinate system
L_MC4P_MoveSplineRelative	Move axes group along a spline in the specified coordinate system; the spline points refer relative to the fixed starting point
L_MC4P_PathRefFromFile	Import an available path file (.lpp respectively .txt)
L_MC4P_SetActiveTool	Activate one of the tools defined in the axes group
L_MC4P_SetToolTransform	Set the parameters of one of the tools defined in the axes group
L_MC4P_TeachCoordinateSystem	Teach position and orientation of a PC by means of the robot kinematics