MC_MovePath – General spatial trajectory generation

Block SymbolLicensing group: COORDINATED MOTION
PIC

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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