MC_SetDynCoordTransform (FB)¶

FUNCTION_BLOCK MC_SetDynCoordTransform

This FB couples two axis groups via a dynamic coordinate transformation. The coordinate transformation is fixed to the tool coordinate system of the master axis group.

This FB may be called with a new rising edge on Execute only after the configured dynamic coordinate system is no longer in use by any movement, otherwise error SMC_AXIS_GROUP_PCS_STILL_IN_USE will be returned. See output InUse.

Note

For common special cases of a dynamic PCS, the function blocks, MC_TrackConveyorBelt, and MC_TrackRotaryTable can be used.
The function block SMC_SetDynCoordTransformEx provides a more general interface.
This FB does not start a movement (administrative FB). The movement is initiated by a command in PCS.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to an axis group
Inout	`MasterAxisGroup`	AXIS_GROUP_REF_SM3	Reference to the master axis group
Input	`Execute`	`BOOL`	Sets the coordinate transformation on rising edge
	`CoordTransform`	MC_COORD_REF	The relative position and orientation of the PCS with respect to the tool coordinate system of the master axis group.
	`CoordSystem`	SMC_COORD_SYSTEM	Which PCS is to be set (PCS_1 or PCS_2)
Output	`Done`	`BOOL`	The transformation has been set successfully
	`Busy`	`BOOL`	The FB is not finished
	`InUse`	`BOOL`	Signals that the axis group still needs the referenced dynamic coordinate system. A new rising edge of `Execute` will lead to the error `SMC_AXIS_GROUP_PCS_STILL_IN_USE`. For this information to be up-to-date, the function block has to be called continuously (even if already `Done`).
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification