MCV_GrpKinTrafoCmds
This FB is a utility FB which is used by the McpPLCopen Part4 Extension library itself.
Only when manual mode is active for an axis group, the string which is the parameter for manual mode is extended to select or deselect a kinematic transformation depending on the signal at the Enable input.
To achieve this, the string at the “ManualBlock” input is placed in front of the NC command to activate or deactivate.
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 |
Enable | BOOL | TRUE activates the kinematic transformation specified by KinRef. If FALSE is applied to this input, the currently kinematic transformation is deselected. |
KinRef | MC_KIN_REF | Reference to the kinematic transformation. |
Manual | BOOL | The signal that indicates that manual mode is active is applied to this input. |
ManualBlock | STRING(HLI_IMCM_MODE-_STATE_PARAM_STRL) | The string that acts as parameter when manual mode is activated is applied to this input. |
VAR_OUTPUT | ||
Variable name | Data type | Description |
ManualBlockOutStr | BOOL | Supplies the string which must be applied when hand mode is activated if activating and deactivating a kinematic transformation is to be considered. |
StartTrafo | BOOL | TRUE indicates that kinematic transformation is activated. |
StopTrafo | BOOL | TRUE indicates that kinematic transformation is deactivated. |