MC_TrackRotaryTable (FB)¶

FUNCTION_BLOCK MC_TrackRotaryTable

This function block tracks a piece on a rotary table.

Based on the position and orientation of the rotary table and on the position and orientation of the piece relative to the table, the tracking is performed using SMC_SetDynCoordTransformEx.

The rotation, angular velocity, etc. of the rotary table is given by a single axis.

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

No dead time compensation is done. In case the axis is an encoder, it is recommended to use a logical axis to account for the dead time.
See also MC_TrackConveyorBelt.
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 the axis group.
Inout	`RotaryTable`	`AXIS_REF_SM3`	Reference to the axis of the rotary table. The user units of the axis must be angle degrees (0°..360°). If `RotaryTable.bRegulatorOn` is set when the FB is started, the set values will be used. Otherwise the act values will be used.
Input	`Execute`	`BOOL`	Start the action at rising edge
	`RotaryTableOrigin`	MC_COORD_REF	Specifies the position and orientation of the rotary table in world coordinates (WCS). This defines the coordinate system of the rotary table in which the position of an object lying on the table can be specified. The z-axis of the coordinate system is the axis of rotation of the table.
	`InitialObjectPosition`	MC_COORD_REF	Specifies the position and orientation of an object lying on the rotary table relative to the table.
	`CoordSystem`	`SMC_COORD_SYSTEM`	Which PCS is to be set (PCS_1 or PCS_2)
	`Name`	`STRING`	The name of the coordinate system.
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