MC_SetKinTrans
This function block activates a kinematic coordinate transformation which creates the relationship between the axis coordinate system (ACS) and the machine coordinate system (MCS) by selecting one of the kinematic models from a row.
Block diagram
FB parameters
VAR_IN_OUT | ||
Variable name | Data type | Description |
AxesGroup | AXES_GROUP_REF | Axis group reference |
VAR_INPUT | ||
Variable name | Data type | Description |
Execute | BOOL | Activates a kinematic coordinate transformation on a rising edge taking into consideration the time of execution specified at the “ExecutionMode” pin. |
KinTransform | UDINT | Reference for a kinematic model. |
ExecutionMode | UDINT | Defines the time when the command of the administrative block is activated. mcQueued = 2 |
VAR_OUTPUT | ||
Variable name | Data type | Description |
Done | BOOL | The kinematic coordinate transformation was activated. |
Busy | BOOL | TRUE indicates that the function block is executing a job. |
Active | BOOL | TRUE indicates that the function block sent the command to the MC. |
CommandAborted | BOOL | TRUE indicates that the currently active command sent by the FB was aborted by another command for the axis group. |
Error | BOOL | TRUE indicates that an error occurred. |
ErrorID | WORD | Error code |
JobID | UDINT | Ordinal number of the last job sent by the FB. |