LSIS XGT Series - Relative Positioning Circular Interpolation Operation (Mc_Movecircularrelative)

Chapter 6 Motion Function Blocks
6-105
6.5.14 Relative positioning circular interpolation operation (MC_MoveCircularRelative)
Motion Function Block
MC
_MoveCircularRelative
Done
Execute
AxesGroup
AxesGroup
BOOLBOOL
UINT
UINT
UINT
CircMode
LREAL
[ ]
AuxPoint
Busy
BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID
WORD
LREAL
[ ] EndPoint
Active
BOOL
USINT
PathChoice
LREAL Velocity
LREAL
Acceleration
LREAL
Deceleration
LREAL
Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
Input-Output
UINT AxesGroup
Set the group to do absolute position circular interpolation operation. (1 ~ 16: Group
1 ~ Group 16)
Input
BOOL Execute
Give relative position circular interpolation operation command to the relevant
group in the rising Edge.
UINT
CircMode
Circular interpolation method setting [0: Midpoint, 1: Central point, 2: Radius]
LREAL[ ] AuxPoint
Specify the position of auxiliary point depending on the circular interpolation
method as the relative coordinate based on the starting point.
LREAL[ ] EndPoint
Specify the end point of circular arc as the relative coordinate based on the starting
point.
BOOL PathChoice
Circular route selection
0: Clockwise, 1: Counterclockwise
LREAL
Velocity
Specify the maximum speed of the route. [u/s]
LREAL
Acceleration
Specify the maximum acceleration. [u/s
2
]
LREAL
Deceleration
Specify the maximum deceleration. [u/s
2
]
LREAL
Jerk
Specify the change rate of acceleration/deceleration. [u/s
3
]
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)
UINT
TransitionMode
Unused
LREAL
TransitionParameter
Unused