Chapter 6 Motion Function Blocks
LREAL[] Position
Enter the target position of the end point of the machine.
In the circular interpolation, the Central point/Waypoint should be set in Position
[3] Position [4] Position [5].
In the circular interpolation, the Radius should be in Position [3].
Specify the maximum speed of the path. [u/s]
Specify the acceleration. [u/s
2
Specify the deceleration. [u/s
2
Specify the change rate of acceleration/deceleration. [u/s
3
UINT Direction
Specify the operation direction.
(0~4: 0-Not specified, 1-Forward direction, 2-Shortest distance, 3-Reverse
direction, 4-Current direction)
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)
Indicate that the path data setting is done successfully.
Indicate that the execution of motion function block is not completed.
Indicate that machine information setting of the current axis 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 is the function block that sets the path data for the axis group specified in the AxesGroup input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) The CommandType value selects the operation method for the path operation. If the CommandType value is set to 0, it is
considered that the data for the corresponding step is not set during path operation.
(5) The Mode value sets the direction of the circular interpolation when performing the circular interpolation operation.
(6) The value of BufferMode should be set to 1(Buffered).
(7) For more details, refer to Section 8.4.11, "Path Operation of the Coordinate System ".
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