Omron Sysmac NY-series - Page 618

Acceleration
Deceler
ation
Jerk
CoordSystem
BufferMode
MV_CIRC2
EndPoint
AxesGroup AxesGroup
Execute
CircAxes
AuxPoint
Error
ErrorID
CommandAborted
PathChoice
Active
Velocity
MC_MoveCircular2D
CircMode
Done
Busy
TransitionMode
MoveMode
MC_Group000
Mv_Ci
rc2_D
Mv_Lin1_Act
Mv_Circ2_CircAxes
Mv_Circ2_CircMode
Mv_Circ2_AuxPoint
Mv_Circ2_EndPoint
Mv_Circ2_Pc
Mv_Circ2_Vel
Mv_Circ2_Acc
Mv_Circ2_Dec
Mv_Circ2_Bm
Mv_Circ2_Mm
Mv_Circ2_Bsy
Mv_Circ2_Ca
Mv_Circ2_Err
Mv_Circ2_ErrID
Mv_Circ2_Act
Circular interpolation (4) is executed with multi-execution of instructions after linear interpolation (1) is started.
Contents of Inline ST
// MV_CIRC1 parameters
Mv_Circ1_CircAxes[0] := UINT#0;
Mv_Circ1_CircAxes[1] := UINT#1;
Mv_Circ1_CircMode := _eMC_CIRC_MODE#_mcRadius;
Mv_Circ1_AuxPoint[0] := LREAL#5.0;
Mv_Circ1_AuxPoint[1] := LREAL#0.0;
Mv_Circ1_EndPoint[0] := LREAL#15.0;
Mv_Circ1_EndPoint[1] := LREAL#10.0;
Mv_Circ1_Pc := _eMC_CIRC_PATHCHOICE#_mcCCW;
Mv_Circ1_Vel := LREAL#100.0;
Mv_Circ1_Acc := LREAL#20.0;
Mv_Circ1_Dec := LREAL#20.0;
Mv_Circ1_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Circ1_Mm := _eMC_MOVE_MODE#_mcAbsolute;
// MV_CIRC2 parameters
Mv_Circ2_CircAxes[0] := UINT#0;
Mv_Circ2_CircAxes[1] := UINT#1;
Mv_Circ2_CircMode := _eMC_CIRC_MODE#_mcCenter;
Mv_Circ2_AuxPoint[0] := LREAL#15.0;
Mv_Circ2_AuxPoint[1] := LREAL#20.0;
Mv_Circ2_EndPoint[0] := LREAL#20.0;
Mv_Circ2_EndPoint[1] := LREAL#20.0;
Mv_Circ2_Pc := _eMC_CIRC_PATHCHOICE#_mcCW;
Mv_Circ2_Vel := LREAL#100.0;
Mv_Circ2_Acc := LREAL#20.0;
Mv_Circ2_Dec := LREAL#20.0;
Mv_Circ2_Bm := _eMC_BUFFER_MODE#_mcBuffered;
Mv_Circ2_Mm := _eMC_MOVE_MODE#_mcAbsolute;
4 Axes Group Instructions
4-66
NY-series Motion Control Instructions Reference Manual (W561)