Chapter 6 Motion Function Blocks
Indicate whether to reach the specified point.
Indicate that the execution of motion function block is not completed.
Indicate that whether or not motion function block is controlling the group.
Indicate that the current motion function block is interrupted while it is running.
Indicate whether an error occurs or not.
Output the number of error occurred while motion function block is running.
(1) This motion function block issues absolute position circular interpolation command based on coordinate system on the axis group
designated by AxesGroup input.
(2) When this motion function block starts, each axis performs circular trajectory interpolation control referring to the auxiliary
point input, and the movement direction is determined by Path Choice input. If PathChoice input is set to 0, circular
interpolation is operated in a clockwise direction, and if it is set to 1, circular interpolation is operated in a counter-clockwise
direction.
(3) At AuxPoint and EndPoint input, designate the arrangement of the absolute position of auxiliary points to refer to for circular
interpolation of each axis. The input corresponds in the order of X, Y, Z, unlike MC_MoveCircularAbsolute.
(4) Velocity, Acceleration, Deceleration, Jerk input sets the velocity, acceleration, deceleration, and acceleration/deceleration
rate change of the interpolation path, respectively.
(5) CircMode input sets the circular interpolation method. The circular interpolation methods corresponding to CircMode values
are as follows.
(a) Circular Interpolation Using Midpoint Specification (CircMode = 0)
This method performs circular interpolation by starting operation at the start position, passing the designated midpoint,
and reaching the target position. In the figure below, the start position corresponds to the axes group coordinate at the
start of the command, the midpoint corresponds to the coordinate input for the AuxPoint, and the target position
corresponds to the absolute coordinate input for the EndPoint.
StartPoint
X axis
Y
axis
EndPoint
AuxPoint
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