SMC_SetDynCoordTransformEx (FB)¶

FUNCTION_BLOCK SMC_SetDynCoordTransformEx

This FB sets a dynamic product coordinate system (PCS). A movement commanded in this dynamic PCS will automatically “track” this coordinate system. Simple examples are PCS that are fixed to a conveyor belt or a rotary table.

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 special cases of a dynamic PCS, the function blocks, MC_SetDynCoordTransform, MC_TrackConveyorBelt and MC_TrackRotaryTable can be used.
This FB does not start a movement (administrative FB). The movement is initiated by a command in the defined PCS.
The PCS is defined in world coordinates, i.e. dynPCS returns the current pose of the PCS relative to the WCS.

InOut:

Scope	Name	Type	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3	Reference to a group of axis
Input	`Execute`	`BOOL`	Sets the coordinate transformation on rising edge
	`dynPCS`	`SMRB.ICoordinateSystem`	The dynamic coordinate transformation. It returns the current pose of the PCS relative to the WCS. The FB that implements `SMC_IDynamicCS` shall not be changed as long as it is used by active or upcoming movements. (See output `InUse`.)
	`CoordSystem`	SMC_COORD_SYSTEM	Which PCS is to be set (PCS_1 or PCS_2)
	`StrInstancePath`	`STRING`	The instance path for error logging (if not set `StrInstancePath` adopts the instance path of this FB)
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`). A dynamic coordinate system becomes `InUse` when a movement to a position in the coordinate system is commanded. It remains `InUse` until the target position of a movement to a different coordinate system has been reached.
	`Error`	`BOOL`	Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`	Error identification

Methods:

FB_Reinit

Structure:

FB_Reinit (Method)