L_MC4P_MoveSplineRelative

This FB serves to traverse an axes group in the coordinate system specified along a spline. In its individual sections, the complete spline consists of third-order polynomials.

The starting point is the target position of the FB instructed last or the current position if the axes group is in the "GroupStandby" state.

The spline is defined by selection of a maximum of nine interpolation points ( ascIntermediatePoint ) and a target point ( alrEndPoint ). The points always refer relatively to the fixed starting point.

The selection of a target point is mandatory. The minimum number of interpolation points must be 1, and the maximum number may be 9.

After the target position has been reached, the axes of the group are in the "GroupStandby" state if no further motion commands are pending.

Changing even one interpolation point already has an impact on the geometry of the complete spline and not only on the geometry of the section changed.

Double identical points following directly in succession are combined.

Double points not following in succession are permissible.

The orientation of the TCP is continuously interpolated during the movement between the starting point and end point.

Due to the greatest curvature, if necessary, the maximum speed and acceleration are reduced along the full spline for the complete spline.

Danger!

All paths have to be first tested with override or in the simulation mode with virtual axes!

Note!

Cartesian path movements can only be executed if all drive axes are referenced to the zero positions defined in the " Supported kinematics " section.

		L_MC4P_MoveSplineRelative
AXES_GROUP_KIN	-	AxesGroup	AxesRef	-	AXES_GROUP_KIN
BOOL	-	xExecute	xDone	-	BOOL
ARRAY [1..9] OF STRUCT	-	ascIntermediatePoint	xBusy	-	BOOL
ARRAY [1..12] OF LREAL	-	alrEndPoint	xActive	-	BOOL
LREAL	-	lrVelocity	xCommandAborted	-	BOOL
LREAL	-	lrAcceleration	xError	-	BOOL
LREAL	-	lrDeceleration	xErrorID	-	L_IE1P_Error
LREAL	-	lrJerk	iPointPassed	-	INT
L_MC4P_CoordSystem	-	eCoordSystem
MC_BUFFER_MODE	-	eBufferMode
MC_TRANSITION_MODE	-	eTransitionMode
ARRAY [ 1..12 ] OF LREAL	-	alrTransitionParameter
ARRAY [1..6] OF L_MC4P_AuxMode	-	aeAuxMode
L_MC4P_Orientation_Mode	-	eOrientationMode
ARRAY[4..6] OF MC_DIRECTION	-	aeDirection

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	axes group reference
xExecute BOOL	FALSE ä TRUE	Start execution of the function block
ascIntermediatePoint ARRAY [1..9] OF L_MC4P_IntermediatePointSpline structure	Intermediate points defined for the spline (x,y,z) Selection of whether the interpolation point is to be taken into consideration At least one intermediate point must be active and must differ from the starting point and target point
alrEndPoint ARRAY [1..12] OF LREAL	End point with orientation and auxiliary axes
lrVelocity LREAL	Maximum velocity in [unit/s] for approaching the target position Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity.
lrAcceleration LREAL	Maximum acceleration in [unit/s ² ]
lrDeceleration LREAL	Maximum deceleration in [unit/s ² ]
lrJerk LREAL	Maximum jerk in [unit/s ³ ]
eCoordSystem L_MC4P_CoordSystem	Selection of the coordinate system to be used: WCS: World Coordinate System MCS: Machine Coordinate System ACS: Axes Coordinate System PCS_1 ... PCS_16: Product Coordinate System (1 ... 16) Coordinate systems and transformations
eBufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode
eTransitionMode MC_TRANSITION_MODE	Mode for the path behaviour at the motion end TransitionMode and TransitionParameter
alrTransitionParameter ARRAY [1..12] OF LREAL	Description of the alrTransitionParameter parameter Parameters for "Overloops" Only relevant if eTransitionMode = TMCornerDistance has been selected. * alrTransitionParameter[1] Specification of the grinding radius of the starting point or to the previous movement as a symmetrical distance in [mm]. Value is used if alrTransitionParameter[1] > 0 * alrTransitionParameter[2] Specification of the blending radius of the starting point or the previous movement relative to half the path length of the movements in [%]. Value is used if alrTransitionParameter[1] = 0 and alrTransitionParameter[2] > 0 * alrTransitionParameter[3..12] Reserved for future functional enhancements
aeAuxMode ARRAY [1..6] OF L_MC4P_AuxMode	Mode for the auxiliary axes: Inactive: Auxiliary axis coordinates are ignored. Continuous: Smoothing the auxiliary axis via several MC_Move blocks. DiscreteAbsolute: Auxiliary axis position is set at the end of each motion segment (similar to the main axes). DiscreteRelative: Auxiliary axis position is set at the end of each motion segment (similar to the main axes). Auxiliary axes
eOrientationMode L_MC4P_Orientation_Mode	Specification of the orientation interpolation for the WCS axes ShortestSpacialWay : The target orientation is approached so that the shortest possible spatial angle results for the sum of movements. For 4D kinematics this is equivalent to mcShortestWay for the C axis. (default) AxisIndividual : The direction of movement can be specified independently for each orientation axis via the Direction input. See also: Direction selection for Modulo axes
aeDirection ARRAY[4..6] OF MC_DIRECTION	Direction select for orientation axes (WCS axes) parameterised as "Modulo". The input is only evaluated with OrientationMode:= L_MC4P_Orientation_Mode.AxisIndividual . Index 4 ... 6: Main axes A, B, C Permitted selection: mcPositiveDirection : Positive direction mcNegativeDirection : Negative direction mcShortestWay : Shortest way (default) Modes mcCurrentDirection , mcPositiveCycle and mcNegativeCycle are not supported. See also: Direction selection for Modulo axes

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

xExecute

BOOL

FALSE ä TRUE

Start execution of the function block

ascIntermediatePoint

ARRAY [1..9] OF L_MC4P_IntermediatePointSpline structure

Intermediate points defined for the spline (x,y,z)

Selection of whether the interpolation point is to be taken into consideration

At least one intermediate point must be active and must differ from the starting point and target point

alrEndPoint

ARRAY [1..12] OF LREAL

End point with orientation and auxiliary axes

lrVelocity

LREAL

Maximum velocity in [unit/s] for approaching the target position

Depending on the profile parameters Position , Acceleration , Deceleration and Jerk the drive may not reach the maximum velocity.

lrAcceleration

LREAL

Maximum acceleration in [unit/s ² ]

lrDeceleration

LREAL

Maximum deceleration in [unit/s ² ]

lrJerk

LREAL

Maximum jerk in [unit/s ³ ]

eCoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system to be used:

WCS: World Coordinate System

MCS: Machine Coordinate System

ACS: Axes Coordinate System

PCS_1 ... PCS_16: Product Coordinate System (1 ... 16)

Coordinate systems and transformations

eBufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

eTransitionMode

MC_TRANSITION_MODE

Mode for the path behaviour at the motion end

TransitionMode and TransitionParameter

alrTransitionParameter

ARRAY [1..12] OF LREAL

Description of the alrTransitionParameter parameter

Parameters for "Overloops"

Only relevant if eTransitionMode = TMCornerDistance has been selected.

* alrTransitionParameter[1]

Specification of the grinding radius of the starting point or to the previous movement as a symmetrical distance in [mm].

Value is used if alrTransitionParameter[1] > 0

* alrTransitionParameter[2]

Specification of the blending radius of the starting point or the previous movement relative to half the path length of the movements in [%].

Value is used if alrTransitionParameter[1] = 0 and alrTransitionParameter[2] > 0

* alrTransitionParameter[3..12]

Reserved for future functional enhancements

aeAuxMode

ARRAY [1..6] OF L_MC4P_AuxMode

Mode for the auxiliary axes:

Inactive: Auxiliary axis coordinates are ignored.

Continuous: Smoothing the auxiliary axis via several MC_Move blocks.

DiscreteAbsolute: Auxiliary axis position is set at the end of each motion segment (similar to the main axes).

DiscreteRelative: Auxiliary axis position is set at the end of each motion segment (similar to the main axes).

Auxiliary axes

eOrientationMode

L_MC4P_Orientation_Mode

Specification of the orientation interpolation for the WCS axes

ShortestSpacialWay : The target orientation is approached so that the shortest possible spatial angle results for the sum of movements. For 4D kinematics this is equivalent to mcShortestWay for the C axis. (default)

AxisIndividual : The direction of movement can be specified independently for each orientation axis via the Direction input.

aeDirection

ARRAY[4..6] OF MC_DIRECTION

Direction select for orientation axes (WCS axes) parameterised as "Modulo". The input is only evaluated with
OrientationMode:= L_MC4P_Orientation_Mode.AxisIndividual .

Index 4 ... 6: Main axes A, B, C

Permitted selection:

mcPositiveDirection : Positive direction

mcNegativeDirection : Negative direction

mcShortestWay : Shortest way (default)

Modes mcCurrentDirection , mcPositiveCycle and mcNegativeCycle are not supported.

Outputs

Name Data type	Value/meaning
xDone BOOL	TRUE	Positioning completed successfully.
xBusy BOOL	TRUE	Processing is running. The Busy output matters if a motion control is carried out by several FBs (BufferMode).
xActive BOOL	TRUE	The command of the FB is currently executed.
xCommandAborted BOOL	TRUE	The command was aborted by another FB.
xError BOOL	TRUE	An error has occurred. For details see ErrorID .
eErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.
iPointPassed INT	Output of the spline interpolation point passed last

L_MC4P_IntermediatePointSpline structure

Name Data type	Value/meaning
lrXPos LREAL	TRUE	X position of the spline interpolation point in the coordinate system of the FB
lrYPos LREAL	TRUE	Y position of the spline interpolation point in the coordinate system of the FB
lrZPos LREAL	TRUE	Z position of the spline interpolation point in the coordinate system of the FB
xUsePoint BOOL	TRUE FALSE	Point is taken into consideration when calculating the spline Point is ignored

Programming example

This example shows the programming of a movement along a spline defined with relative interpolation points specified.

X Starting point

X Intermediate points

O End points

The position of the axes group is x=50.0, y =10.0, z=20.0

Via the My_MoveSpline FB (instance of the L_MC4P_MoveSplineRelative), the following movement is programmed:

My_MoveSpline.alrIntermediatePoint[1].lrXPos := -45.0;

My_MoveSpline.alrIntermediatePoint[1].lrYPos := -9.0;

My_MoveSpline.alrIntermediatePoint[1].lrZpos := -15.0;

My_MoveSpline.alrIntermediatePoint[1].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[2].lrXPos := -40.0;

My_MoveSpline.alrIntermediatePoint[2].lrYPos := -8.0;

My_MoveSpline.alrIntermediatePoint[2].lrZpos := -12.0;

My_MoveSpline.alrIntermediatePoint[2].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[3].lrXPos := -30.0;

My_MoveSpline.alrIntermediatePoint[3].lrYPos := 0.0;

My_MoveSpline.alrIntermediatePoint[3].lrZpos := -20.0;

My_MoveSpline.alrIntermediatePoint[3].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[4].lrXPos := -30.0;

My_MoveSpline.alrIntermediatePoint[4].lrYPos := 10.0;

My_MoveSpline.alrIntermediatePoint[4].lrZpos := 0.0;

My_MoveSpline.alrIntermediatePoint[4].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[5].lrXPos := 0.0;

My_MoveSpline.alrIntermediatePoint[5].lrYPos := 10.0;

My_MoveSpline.alrIntermediatePoint[5].lrZpos := 20.0;

My_MoveSpline.alrIntermediatePoint[5].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[6].lrXPos := 0.0;

My_MoveSpline.alrIntermediatePoint[6].lrYPos := 50.0;

My_MoveSpline.alrIntermediatePoint[6].lrZpos := 40.0;

My_MoveSpline.alrIntermediatePoint[6].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[7].lrXPos := 10.0;

My_MoveSpline.alrIntermediatePoint[7].lrYPos := 50.0;

My_MoveSpline.alrIntermediatePoint[7].lrZpos := 30.0;

My_MoveSpline.alrIntermediatePoint[7].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[8].lrXPos := 10.0;

My_MoveSpline.alrIntermediatePoint[8].lrYPos := 10.0;

My_MoveSpline.alrIntermediatePoint[8].lrZpos := 10.0;

My_MoveSpline.alrIntermediatePoint[8].xUsePoint := TRUE;

My_MoveSpline.alrIntermediatePoint[9].lrXPos := 0.0;

My_MoveSpline.alrIntermediatePoint[9].lrYPos := 0.0;

My_MoveSpline.alrIntermediatePoint[9].lrZpos := -20.0;

My_MoveSpline.alrIntermediatePoint[9].xUsePoint := TRUE;

My_MoveSpline.alrEndPoint[1] := -15.0;

My_MoveSpline.alrEndPoint[2] := 10.0;

My_MoveSpline.alrEndPoint[3] := -10.0;