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 relative position circular interpolation command on the axes group designated by
AxesGroup input.
(2) When this motion function block is executed, each axis performs circular interpolation control referring to the auxiliary point
input, and the direction is determined by Path Choice input. If PathChoiceinput 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 relative position of auxiliary points to refer to for circular
interpolation of each axis. The input arrangement and the axes of the group correspond to the designated axis IDs [ID1, ID2,
ID3, ∙∙∙ ], in that order. (Since the number of axes comprising a group to issue circular interpolation command is 3,
arrangements of three sizes should be input for the Position input.)
(4) In Velocity, Acceleration, Deceleration, Jerk inputs, the acceleration, deceleration, change rate of acceleration, velocity of the
interpolation path are specified, 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 (BORDER, CircMode = 0)
This method is to perform the circular interpolation to the target position through the midpoint position after starting
operation at the current position. In the figure below, the current 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 relative coordinate input for the EndPoint.
StartPoint
X axis
Y
axis
EndPoint
AuxPoint
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