Hello,
is there a way to teach by program a product coordinate system (PCS), the goal is to get a function bloc like below in MLC World.
Thanks.
Beware that PCS groups and sets must only be added/changed while ctrlX MOTION is in configuration state. During runtime they can be switched on an off with command ML_KinPCSP. See online documentation "Kinematic command options".
There are two general ways to switch the motion state:
- PLC: See topic "How to read motion operation mode node status?"
- REST: See topic "node-red: how to send commands, like booting motion, or move axis?"
In the current version 2.02 of the ctrlX PLC Engineering you can find an import button to automatically create function blocks for accessing your self created flatbuffer.
As in 1.20 no function block is available to read or create PCS and including sets you will need to use the data layer API and wrap a function block around on your own. As an example for reading PCS sets see topic "CXA_DataLayer how to read flatbuffer type? Is there an example?".
Hello,
Thanks for your feedback,
wiriting manually Sets, requires us to determine XYZ and calculate the orientations! which could generate huge effort for the customer.
but to be clear, we're looking for the Function allowing us to teach and determine XYZ and orientation of a PCS with only 3 reference points exactly like ML_PCSTeachIn we have in MLC.
this function is mondatory in the robotic applications as it is quite complicated to determine PCS theorically.
