TcDwNcEncConvertible

Function

This module links the RC9 robot controller with TwinCAT Motion [Encoder Axis] to output to TwinCAT Motion the current position or the command position of the robot as either position type or joint type data.

Setting

Follow the setting procedure below.

1

Set TwinCAT Motion [Axis Type] to [CANopen DS402/Profile MDP 742…].

2

Set the same value to the parameter [Scaling Factor Numerator] for both TwinCAT Motion and the TcCOM module.
The same value does not need to be set for all axes. The recommended value is 1e-06.

3

Set the same value to the parameter [Scaling Factor Denominator] for both TwinCAT Motion and the TcCOM module.
The same value does not need to be set for all axes. The recommended value is 1.0.

4

Link TwinCAT Motion [Enc.Inputs] with TcCOM module [Enc.Inputs/Outputs].

5

Specify either [etCurPose] (current position) or [etCmdPose] (command position) for TcCOM module [EncType].

6

Link [Inputs.PoseType] with a PLC variable.

Changing this parameter will switch the position type and the joint type.

This completes the setting.