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TF5420 | TwinCAT 3 motion pick-and-place#

Source

Version 3.1.10.64#

Requires TwinCAT V3.1.4024.24 or higher

  • New: In a CM group with Geo Blending, a blocker, that is triggered early enough before it becomes active, blends over and passed on without interruption.

Version 3.1.10.14#

  • New MC Group for Coordinated Motion
  • Consistent further development of PnP Group and for compatibility reasons launched in a new MC Group
  • Choice between Geo Blending and Super Positioning Blending within the new Coordinated Motion Group
  • Uses same PLC library (Tc3_McCoordinatedMotion)

Version 3.1.10.1#

Requires TwinCAT V3.1.4024.7 or higher

  • New group type MC Group Coordinated Motion is available.
  • Cyclic interface is extended for MC Group Coordinated Motion.
  • New function blocks for MC Group Coordinated Motion:
    • MC_BlockerPreparation
    • MC_ReleaseBlocker
    • MC_GroupReadBlockerStatus
    • MC_DwellTimePreparation
  • MC_GroupHalt is implemented for MC Group Coordinated Motion.
  • mcTransModeCornerDistance, mcCircPathchoiceShortSegment and mcCircPathchoiceLongSegment are implemented for MC Group Coordinated Motion.

Version 3.1.6.27#

Requires TwinCAT V3.1.4022.0 or higher

  • The remaining time and distance of the current segment can be read via ADSREAD.

Version 3.1.6.3#

- New function blocks for spatial transformations, that is for changing the reference system (MC_SetCoordinateTransform) and for conveyor tracking (MC_TrackConveyorBelt).#

Version 3.1.4.4#

- New: MC_MAXIMUM is supported as input value from software version 3.1.4.4. For more detailed information please refer to the documentation for the respective function block.#

Version 3.1.2.47#

  • New function block MC_MoveCircularAbsolutePreparation.
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