MC_MovePath – General spatial trajectory generation

Block SymbolLicensing group: COORDINATED MOTION

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

Inputs

uAxesGroup	Axes group reference	Reference
Execute	The block is activated on rising edge	Bool
TotalTime	Time [s] for whole move	Double (F64)
RampTime	Time [s] for acceleration/deceleration	Double(F64)
CoordSystem	Reference to the coordinate system used	Long (I32)
	1 .... ACS 2 .... MCS 3 .... PCS
BufferMode	Buffering mode	Long (I32)
	1 .... Aborting 2 .... Buffered 3 .... Blending low 4 .... Blending high 5 .... Blending previous 6 .... Blending next
TransitionMode	Transition mode in blending mode	Long (I32)
	1 .... TMNone 2 .... TMStartVelocity 3 .... TMConstantVelocity 4 .... TMCornerDistance 5 .... TMMaxCornerDeviation 11 ... Smooth
TransitionParameter	Parametr for transition (depends on transition mode)	Double (F64)
RampIn	RampIn factor (0 = RampIn mode not used)	Double (F64)

Parameters

pc	Control-points matrix $⊙$ [0.0 1.0 2.0; 0.0 1.0 1.0; 0.0 1.0 0.0]	Double (F64)
pk	Knot-points vector $⊙$ [0.0 0.0 0.0 0.0 0.5 1.0 1.0]	Double (F64)
pw	Weighting vector $⊙$ [1.0 1.0 1.0]	Double (F64)
pv	Polynoms for feedrate definition $⊙$ [0.0 0.05 0.95; 0.0 0.1 0.1; 0.0 0.0 0.0; 0.1 0.0 -0.1; -0.05 0.0 0.05; 0.0 0.0 0.0]	Double (F64)
pt	Knot-points (time [s]) for feedrate $⊙$ [0.0 1.0 10.0 11.0]	Double (F64)
user	Only for special edit $⊙$ [0.0 1.0 2.0 3.0]	Double (F64)

Outputs

yAxesGroup	Axes group reference	Reference
Done	Algorithm finished	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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