BASIC commands
PROGRAMMING MANUAL 138
Revision 1.0
3.2.194 MOVECIRC
/i
Example In a series of buffered moves using the look ahead buffer with MERGE=ON,
an absolute move is required where the incoming vector speed is 40units/
second and the finishing vector speed is 20 units/second.
FORCE_SPEED=40
ENDMOVE_SPEED=20
MOVEABSSP(100,100)
See also MOVEABS, FORCE_SPEED, ENDMOVE_SPEED
Type Axis command
Syntax MOVECIRC(end_1,end_2,centre_1,centre_2,direction)
MC(end_1,end_2,centre_1,centre_2,direction)
Description The MOVECIRC command interpolates 2 orthogonal axes in a circular arc at
the tool point. The path of the movement is determined by the 5 arguments,
which are incremental from the current position.
The arguments end_1 and centre_1 apply to the BASE axis and end_2 and
centre_2 apply to the following axis. All arguments are given in user units of
each axis. The speed of movement along the circular arc is set by the
SPEED, ACCEL and DECEL parameters of the BASE axis. The first four dis-
tance parameters are scaled according to the current unit conversion factor
for the BASE axis.
MOVECIRC works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis.
For MOVECIRC to be correctly executed, the two axes moving in the circular
arc must have the same number of encoder pulses per linear axis distance. If
they do not, it is possible to adjust the encoder scales in many cases by
adjusting with ENCODER_RATIO axis parameters for a Flexible axis or with
the gear ratio in the Servo Drive of a MECHATROLINK axis.
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