LSIS XGT Series - Page 426

Chapter 8 Motion Control Function
8-35
(2) Relative positioning circular interpolation operation
Name
Description
Operation Condition
MC_MoveCircularRelative
Relative positioning circular
interpolation operation
Edge
MC_MoveCircularRelative
Done
Execute
AxesGroup
AxesGroup
BOOLBOOL
UINT UINT
UINT CircMode
LREAL[ ] AuxPoint
Busy
BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID
WORD
LREAL[ ] EndPoint
Active
BOOL
USINT PathChoice
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
5. Helical interpolation
(1) Three axes are used in the execution of circular interpolation commands(「Absolute positioning circular interpolation
operation (MC_MoveCircularAbsolute) 」 , 「 Relative positioning circular interpolation operation
(MC_MoveCircularRelative)」). That is, two axes move the trajectory of the arc depending on circular interpolation
settings, and one axis performs linear interpolation in synchronization with circular interpolation motion.
(2) Linear axis is the third axis of the circular interpolation axis group.
(3) For the execution of helical interpolation, the axis group of circular interpolation command needs to be set to 3-axis, and
linear interpolation target position is to be set in the third axis of ‘EndPoint’.
Z
X
Y
Linear interpolation part
Center
Starting position
(x1, y1, z1)
Circular interpolation part
Helical interpolation
Goal Position
(x2, y2, z2)