Chapter 7 Program
(1) Command condition
: It is a condition to give circular interpolation command to the axis group.
(2) Axis group connection state flag
: In case axes of the axis group to be operated is connected to motion control module, and EtherCAT communication with
motion control module is normally performed, it is On.
(3) Axis group error/Warning status flag
: If there are errors and warnings in axes included in the axis group, it is On.
(4) Axis group servo-on status
: If axes included in the axis group are in servo-on state, it is On.
(5) Axis group operation status flag
: If axes of the axis group are in operation, it is On.
(6) Axis group 1 absolute position circular interpolation/Axis group 2 relative position circular interpolation commands
: In example programs, absolute position circular interpolation operation (MC_MoveCircularAbsolute) is executed in axis group
1, and relative position circular interpolation operation (MC_MoveCircularRelative) motion function block in axis 2 under the
following conditions.
- Circular interpolation operation condition is On.
- Axes included in the axis group are normally connected.
- There should be no errors and warnings.
- Axes of the axis group are not in operation.
Conditions to execute motion function block may vary depending on systems.
(7) Circular interpolation command input variables
: These are input variables to execute absolute position circular interpolation operation (MC_MoveCircularAbsolute) and relative
position circular interpolation operation (MC_MoveCircularRelative) motion function block.
- Command axis group: It sets axis group in which motion function block is to be executed.
- Target position by axis: Array variables are set, and linear interpolation operation target position of axes included in axis group
is set in order.
- Circular interpolation method: It sets a method to execute circular interpolation through selection among mid-point method,
center point method and radius method.
- Axis-specific circular interpolation auxiliary point: It takes a form of array and sets auxiliary point required for circular
interpolation in the order of axes included in axis group.
- Axis-specific circular interpolation target point: It takes a form of array and sets target position in the order of axes included in
axis group.
- Circular interpolation velocity: It sets target speed to execute circular interpolation, when the speed refers to interpolation
speed.
- Circular interpolation acceleration, deceleration, jerk: Values to be applied when circular interpolation is performed are set.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it set whether to execute immediately or
execute after the completion of commands which are currently being performed. For details, refer to “6.1.4 Buffer Mode Input”.
(8) Circular interpolation command output variable
: It is a variable to store output values generated when absolute position circular interpolation operation
(MC_MoveCircularAbsolute) and relative position circular interpolation operation (MC_MoveCircularRelative) motion function
block is executed.
- Execution completed: When the execution of motion function block is completed, it is On.
- Function Block in execution: When motion function block is executed, it is On, and the execution is completed, it becomes Off.
- The axis group being controlled by function block: When motion function block controls the axis group, it is On.
- Error occurrence state: In case error occurs as the motion function block is executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For details on the output of motion function block, refer to “Edge motion commands” of “6.1.3 Basic I/O Variable”.
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