Chapter 8 Motion Control Function
8.4.10 Path Operation Function for Coordinate System
The coordinate system path operation function stores operation command information in a specific memory area and sequentially
executes the stored operation commands to indirectly perform coordinate system operations such as coordinate system linear
interpolation operation/circular interpolation operation.
(1) Coordinate system path operation settings
The data of the coordinate system path operation is set using the LS_SetMovePath function block. The path data set in
the LS_SetMovePath is stored in the array variable specified as the PathData input. The array variable specified as input of
PathData should use an array that is large enough to store the coordinate system path data as an input. Since the size of
one step of the coordinate system path data is 96 Bytes, the PathaData should use at least 96 arrays. The sequence of
path operation to be set in Step is specified. In the CommandType, the type of command to execute the operation (0: None
1: 1: Coordinate system absolute position linear interpolation operation 2: Coordinate system relative position linear
interpolation operation 3: Coordinate system absolute position circular interpolation operation 4: Coordinate system relative
position circular interpolation operation) are specified. Mode input is an input for selecting the path of an arc if circular
interpolation is selected in the CommandType, and you can select the direction of the arc (0: clockwise 1: counterclockwise).
Position is an input for setting the target position, and inputs of the X, Y, Z, A, B and C directions are entered sequentially
The coordinate system path operation is performed using the LS_RunMovePath function block. When the coordinate
system path operation is executed, the path data of steps designated as StartStep and EndStep are sequentially executed.
Even if the EndStep is not reached at the time of path operation, the path operation is terminated if the CommandType
value of the step is set to 0. The step number which is currently being executed during the coordinate system path
operation is displayed via CurStep.
(2) Motion function block
(1) Coordinate system path data setting
Coordinate system path data setting
LS_SetMovePath
DoneExecute
AxesGroup AxesGroup
BOOL
BOOL
UINT UINT
ARRAY[] OF BYTE PathData
UINT Step
Busy BOOL
Active BOOL
Error BOOL
ErrorID WORD
UINT Mode
UINT CoordSystem
ARRAY[0..6] OF LREAL[ ] Positon
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
UINT CommandType
PathData ARRAY[] OF BYTE
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