LSIS XGT Series - Circular Interpolation Operation for Relative Position of Coordinate System; (Mc_Movecircularrelative2 D)

Chapter 6 Motion Function Blocks
6-168
6.7.7 Circular interpolation operation for relative position of coordinate system
(MC_MoveCircularRelative2D)
Motion Function Block
MC_MoveCircularRelative2D
Done
Execute
AxesGroup
AxesGroup
BOOLBOOL
UINT UINT
UINT CircMode
LREAL[ ] AuxPoint
Busy
BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID
WORD
LREAL[ ] EndPoint
Active
BOOL
UINT PathChoice
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
UINT CoordSystem
Input-Output
UINT AxesGroup
Set the group to do relative position circular interpolation operation. (1 ~ 16: Group
1 ~ Group 16)
Input
BOOL Execute
Give relative position circular interpolation operation command on the 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 in a relative coordinate.
LREAL[ ] EndPoint
Specify the end point of the circular trajectory as a relative coordinate from the start
point.
BOOL PathChoice
Set the circular path.
0: clockwise direction, 1: counter-clockwise direction
LREAL
Velocity
Set the maximum velocity of the path. [u/s]
LREAL
Acceleration
Set the maximum acceleration. [u/s
2
]
LREAL
Deceleration
Set the minimum deceleration. [u/s
2
]
LREAL
Jerk
Set the maximum acc/dec jerk. [u/s
3
]
UINT
CoordSystem
Set the coordinate system’s type. (1:MCS 2:PCS)
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)