LSIS XGT Series - Page 482

Chapter 8 Motion Control Function
8-91
Sine1
The velocity profile of this operation type consists of sine curves. It is suitable for low-load high-velocity operation, and
reduces impact on the motor caused by load changes.
Sine2(Sine With Constant)
This velocity profile of this operation type consists of sine curves and constant speed sections. It is suitable for high-load,
medium-velocity operation.
6. When CoordSystem input is set to 1, the robot operates using the Position values as MCS coordinates. When it is set to 2,
the robot operates using the Position values as PCS coordinate system.
7. To stop the current interpolation control, use MC_GroupHalt or MC_GroupStop motion function block.
8. Function block
Name
Description
Operation Condition
MC_MoveLinearTimeAbsolute
Coordinate system absolute position
time linear interpolation operation
Edge
LS_MoveLinearTimeAbsolute
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
UINT CoordSystem
ARRAY[0..6] OF LREAL[ ] Position
Busy BOOL
Active BOOL
Error BOOL
ErrorID WORD
UINT TrajType
LREAL TrajTime
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter