Overview of the new functions

As of TF5400 V3.4.45

• New: For installation under TwinCAT 3.1.4026, separate packages for the libraries: Tc3_McCollisionAvoidance, Tc3_McCompensations, Tc3_McCoordinatedMotion and Tc3_Mc3Defintions. However, the libraries are still included in the TF5400.AdvancedMotion.XAE workload installation.
• TwinCAT.XAE.PLC.Lib.Tc3_McCollisionAvoidance
• TwinCAT.XAE.PLC.Lib.Tc3_McCompensations
• TwinCAT.XAE.PLC.Lib.Tc3_McCoordinatedMotion
• TwinCAT.XAE.PLC.Lib.Tc3_Mc3Definitions

As of TF5400 V3.3.19

• New: CA group parameter Active Gap Establishing
  with the new default setting that axes are only braked to avoid/minimize gap violations in the future, but do not actively move apart, as is the default behavior up to and including V3.2.
• New: The gap control direction "mcGapCtrlDirectionBoth" can be used in connection with the gap control mode mcGapCtrlModeFast.
• Requires TwinCAT V3.1.4024.40 or higher

As of TF5400 V3.2.27:

• Optimizations to MC_GearInPosCA that prevent SAF cycle offset between master and slave axis.
• Optimizations to the gap controller when the axis is already in the target position and only the gap changes. If the adjacent mover is commanded, the new gap takes effect.
• Requires an x64 platform

As of TF5400 V3.1.10.63:

• Requires TwinCAT V3.1.4024.24 or higher

As of TF5400 V3.1.10.30:

• Behavioral change in modulo positioning. Additional turns are now to be commanded via the new parameter ST_MoveAbsoluteCAOptions.AdditionalTurns. Please refer to the notes on Modulo positioning.

As of TF5400 V3.1.10.1:

• Track management
• Revised state diagram
• Requires TwinCAT V3.1.4024.7 or higher

As of TF5400 V3.1.6.3:

• Geo compensation

As of TF5400 V3.1.4.4:

• New: As of TF5400 3.1.4.4 MC_MAXIMUM is supported as input value. For more detailed information please refer to the documentation for the respective function block.

As of TF5400 V3.1.2.47:

• New input MC_GAP_CONTROL_MODE at each motion function block.
• New flag MC_GearInPosCAOptions. OverrideSlaveDynamicRestrictions to improve the behavior when coupled to a master with non-constant velocity (e.g. encoder axis).
• New CA group parameter GapControlModeDirection defines the direction of gap monitoring.