Allen-Bradley Studio 5000 Logix Emulate - Page 423

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 423
Via/Center/Radius
Depending on the selected Move Type and Circle Type, the via/center/radius
position parameter defines the absolute or incremental value of a position along
the circle, the center of the circle, or the radius of the circle as defined in the
following table. If the Circle Type is via or center, the via/center/radius position
parameter is a one-dimensional array, whose dimension is defined to be at least the
equivalent of the number of axes specified in the coordinate system. If the Circle
type is radius, the via/center/radius position parameter is a single value.
Move Type Cycle Type Behavior
Absolute Via The via/center/radius position array defines a position along the
circle. For a non-full circle case, the Position parameter array
defines the endpoint of the arc. For a full circle case, the Position
parameter array defines any second point along the circle except
the endpoint.
Incremental Via The sum of the via/center/radius position array and the old
position defines the position along the circle. For a non-full circle
case, the sum of the Position parameter array and the old position
defines the endpoint of the arc. For a full circle case, the sum of the
Position parameter array and the old position defines any second
point along the circle except the endpoint.
Absolute Center The via/center/radius position array defines the center of the
circle. For a non-full circle case, the Position parameter array
defines the endpoint of the arc. For a full circle case, the Position
parameter array defines any second point along the circle except
the endpoint.
Incremental Center The sum of the via/center/radius position array and the old
position defines the center of the circle. For a non-full circle case,
the sum of the Position parameter array and the old position
defines the endpoint of the arc. For a full circle case, the sum of the
Position parameter array and the old position defines any second
point along the circle except the endpoint.
Absolute or Incremental Radius The via/center/radius position single value defines the arc radius.
The sign of the value is used to determine the center point to
distinguish between the two possible arcs. A positive value
indicates a center point that generates an arc less than 180
degrees. A negative value indicates a center point that generates
an arc greater than 180 degrees. This Circle Type is only valid for
two-dimensional circles. The position parameter array follows the
Move Type to define the endpoint of the arc.
Absolute Center Incremental The sum of the via/center/radius position array and the old
position defines the center position of the circle. For a non-full
circle case, the Position parameter array defines the endpoint of
the arc. For a full circle case, the Position parameter array defines
any second point along the circle except the endpoint.
Incremental Center Incremental The sum of the via/center/radius position array and the old
position defines the center position of the circle. For a non-full
circle case, the sum of the Position parameter array and the old
position defines the endpoint of the arc. For a full circle case, the
sum of the Position parameter array and the old position defines
any second point along the circle except the endpoint.