Omron Sysmac NY-series - MC_MoveCircular2 D

MC_MoveCircular2D
The MC_MoveCircular2D instruction performs circular interpolation for two axes.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_MoveCircu-
lar2D
Circular 2D
Interpolation
FB
Acceler
ation
Deceleration
Jerk
CoordSystem
BufferMode
MC_MoveCircular2D_instance
EndPoint
AxesGroup AxesGroup
Execute
CircAxes
AuxPoint
Error
ErrorID
CommandAborted
PathChoice
Active
Velocity
MC_MoveCircular2D
CircMode
Done
Busy
TransitionMode
MoveMode
MC_MoveCircular2D_instance (
AxesGroup :=parameter,
Execute :=parameter,
CircAxes :=parameter,
CircMode :=parameter,
AuxPoint :=parameter,
EndPoint :=parameter,
PathChoice :=parameter,
V
elocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
MoveMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range
De-
fault
Description
Execute Execute BOOL TRUE or FALSE FALS
E
The instruction is executed
when the value of this variable
changes to TRUE.
CircAxes Circular Ax-
es
ARRAY [0,1] OF
UINT
0 to 3 0 Specify the axes for circular
interpolation.
0: Axis A0
1: Axis A1
2: Axis A2
3: Axis A3
CircMode Circular In-
terpolation
Mode
_eMC_CIRC_M
ODE
0: _mcBorder
1: _mcCenter
2: _mcRadius
0
*1
Specify the method for circu-
lar interpolation.
0: Border point
1: Center
2: Radius
4 Axes Group Instructions
4-46
NY-series Motion Control Instructions Reference Manual (W561)