LSIS XGT Series - Page 496

Chapter 8 Motion Control Function
8-105
Name
Description
Operation Condition
MC_SetCartesianTransform
PCS setting
Edge
MC_SetCartesianTransform
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
LREAL TransX
LREAL TransY
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
Active BOOL
LREAL TransZ
LREAL RotAngleA
LREAL RotAngleB
LREAL RotAngleC
(2) Rotary table synchronized function operation example
The rotary table synchronization function begins with setting rotary synchronization using MC_TrackRotaryTable function
block.
For MC_TrackRotaryTable function block, enter rotary axis value at the RotaryAxis input, enter the rotary table center
position from the robot's origin point at the RotaryOrigin, enter the position of the product origin point from the rotary table
center point at the ObjectPosition input.
Once MC_TrackRotaryTable function block setting is complete, LS_MoveLinearTimeAbsolute function block where the
subsequently applied CoordSystem input is set to PCS is operated in sync with the rotary.
Synchronized rotary operation performs to track the object with moving to Z positive direction and Z negative direction.
After synchronized rotary table operation is completed, execute LS_MoveLinearTimeAbsolute function block where the
CoordSystem is set to MCS to return to the previous status where the rotary work is not yet performed.
Function Block
CoordSystem
Position[]
Description
MoveLinearTimeAbsolute1
PCS
0,0,0
Move to Rotary center
MoveLinearTimeAbsolute2
PCS
0,0,-30
Track the Object 1
MoveLinearTimeAbsolute4
PCS
0,0,30
Track the Object 2
MoveLinearTimeAbsolute5
MCS
0,0,-380
Move the robot to initial position
MC_TrackRotaryTable
DoneExecute
AxesGroup AxesGroup1
4 RotaryAxis
RotaryOrigin RotaryOrigin
Busy
Active
Error
ErrorID
ObjectPosition ObjectPosition
PCS CoordSystem
Buffered BufferMode
LS_MoveLinearTimeAbsolute
DoneExecute
AxesGroup AxesGroup1
PCS CoordSystem
0,0,0,0,0,0 Position
Busy
Active
Error
ErrorID
1 TrajType
3000 TrajTime
Buffered BufferMode
0 TransitionMode
0 TransitionParameter
운전시작
LS_MoveLinearTimeAbsolute
DoneExecute
AxesGroup AxesGroup1
PCS CoordSystem
0,0,-30,0,0,0 Position
Busy
Active
Error
ErrorID
1 TrajType
3000 TrajTime
Buffered BufferMode
0 TransitionMode
0 TransitionParameter
LS_MoveLinearTimeAbsolute
DoneExecute
AxesGroup AxesGroup1
PCS CoordSystem
0,0,-30,0,0,0 Position
Busy
Active
Error
ErrorID
1 TrajType
3000 TrajTime
Buffered BufferMode
0 TransitionMode
0 TransitionParameter
LS_MoveLinearTimeAbsolute
DoneExecute
AxesGroup AxesGroup1
MCS CoordSystem
Position
Busy
Active
Error
ErrorID
1 TrajType
3000 TrajTime
Buffered BufferMode
0 TransitionMode
0 TransitionParameter
0,0,-380,0,0,0