MC_MoveCircularAbsolute

This FB is used to carry out a circular interpolation for an axes group towards an absolute position in the specified coordinate system.

In case of the circular interpolation, an absolutely given target position is approached on a circular arc. Starting position is the target position of the FB instructed last or the current position if the axes group is in the "GroupStandby" state.

The different modes can be selected via the CircMode input:

Circular interpolation with intermediate and end point (3-point circular arc)

Circular interpolation with center and end point

The end point as well as the auxiliary point for defining the circular arc have to be specified as absolute positions.

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

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.

		MC_MoveCircularAbsolute
AXES_GROUP_REF	-	AxesGroup	Done	-	BOOL
BOOL	-	Execute	Busy	-	BOOL
L_MC4P_CircMode	-	CircMode	Active	-	BOOL
ARRAY [1..12] OF LREAL	-	AuxPoint	CommandAborted	-	BOOL
ARRAY [1..12] OF LREAL	-	EndPoint	Error	-	BOOL
MC_CIRC_PATHCHOICE	-	PathChoice	ErrorID	-	L_IE1P_Error
LREAL	-	Velocity
LREAL	-	Acceleration
LREAL	-	Deceleration
LREAL	-	Jerk
L_MC4P_CoordSystem	-	CoordSystem
ARRAY [1..6] OF L_MC4P_AuxMode	-	aeAuxMode
MC_BUFFER_MODE	-	BufferMode
MC_TRANSITION_MODE	-	TransitionMode
ARRAY [ 1..12 ] OF LREAL	-	TransitionParameter
L_MC4P_Orientation_Mode	-	OrientationMode
ARRAY[4..6] OF MC_DIRECTION	-	Direction

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_REF	axes group reference
Execute BOOL	FALSE ä TRUE	Start positioning.
CircMode L_MC4P_CircMode	Selection of the circular arc mode This input serves to define how to interpret the inputs AuxPoint and PathChoice . Supported circular arc modes: BORDER and CENTER Circular arc mode (CircMode)
AuxPoint ARRAY [1..12] OF LREAL	Array with absolute auxiliary point position in [unit] for each dimension in the specified coordinate system The interpretation of the auxiliary point depends on the CircMode . Note: In case of AuxPoint , only the position (X, Y, Z) for calculating the circle geometry is used. The AuxPoint has no effect on the interpolation of the orientation axes and the auxiliary axes.
EndPoint ARRAY [1..12] OF LREAL	Array with absolute end point coordinates in [unit] for each dimension in the specified coordinate system. Absolute target position of the movement [1; 6] Coordsystem = ACS : Target position of the drive axes Coordsystem = WCS , MCS or PCS : Target position of the TCP in the selected coordinate system Index 7 ... 12: Target position of the optionally available auxiliary axes
PathChoice MC_CIRC_PATHCHOICE	Path direction Meaning when CircMode = BORDER: CLOCKWISE: Path via AuxPoint COUNTERCLOCKWISE: Path that does not lead over AuxPoint . Meaning when CircMode = CENTER: CLOCKWISE: Shortest path (<180°) COUNTERCLOCKWISE: Longer path (>180°) Circular arc mode (CircMode)
Velocity 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.
Acceleration LREAL	Maximum acceleration in [unit/s ² ]
Deceleration LREAL	Maximum deceleration in [unit/s ² ]
Jerk LREAL	Maximum jerk in [unit/s ³ ]
CoordSystem 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
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
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode
TransitionMode MC_TRANSITION_MODE	Mode for the path behaviour at the motion end TransitionMode and TransitionParameter
TransitionParameter ARRAY [1..12] OF LREAL	Description of the TransitionParameter parameter Parameter for "Transition loops" Only relevant if TransitionMode = TMCornerDistance has been selected. * TransitionParameter[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 TransitionParameter[1] > 0 * TransitionParameter[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 TransitionParameter[1] = 0 and TransitionParameter[2] > 0 * TransitionParameter[3...12] Reserved for future functional enhancements
OrientationMode 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
Direction 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_REF

axes group reference

Execute

BOOL

FALSE ä TRUE

Start positioning.

CircMode

L_MC4P_CircMode

Selection of the circular arc mode

This input serves to define how to interpret the inputs AuxPoint and PathChoice .

Supported circular arc modes: BORDER and CENTER

Circular arc mode (CircMode)

AuxPoint

ARRAY [1..12] OF LREAL

Array with absolute auxiliary point position in [unit] for each dimension in the specified coordinate system

The interpretation of the auxiliary point depends on the CircMode .

Note: In case of AuxPoint , only the position (X, Y, Z) for calculating the circle geometry is used. The AuxPoint has no effect on the interpolation of the orientation axes and the auxiliary axes.

EndPoint

ARRAY [1..12] OF LREAL

Array with absolute end point coordinates in [unit] for each dimension in the specified coordinate system.

Absolute target position of the movement

[1; 6]

Coordsystem = ACS : Target position of the drive axes

Coordsystem = WCS , MCS or PCS : Target position of the TCP in the selected coordinate system

Index 7 ... 12:

Target position of the optionally available auxiliary axes

PathChoice

MC_CIRC_PATHCHOICE

Path direction

Meaning when CircMode = BORDER:

CLOCKWISE: Path via AuxPoint

COUNTERCLOCKWISE: Path that does not lead over AuxPoint .

Meaning when CircMode = CENTER:

CLOCKWISE: Shortest path (<180°)

COUNTERCLOCKWISE: Longer path (>180°)

Circular arc mode (CircMode)

Velocity

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.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

CoordSystem

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

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

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

TransitionMode

MC_TRANSITION_MODE

Mode for the path behaviour at the motion end

TransitionMode and TransitionParameter

TransitionParameter

ARRAY [1..12] OF LREAL

Description of the TransitionParameter parameter
Parameter for "Transition loops"

Only relevant if TransitionMode = TMCornerDistance has been selected.

* TransitionParameter[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 TransitionParameter[1] > 0

* TransitionParameter[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 TransitionParameter[1] = 0 and TransitionParameter[2] > 0

* TransitionParameter[3...12]

Reserved for future functional enhancements

OrientationMode

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.

Direction

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
Done BOOL	TRUE	Positioning completed successfully.
Busy BOOL	TRUE	Processing is running. The Busy output matters if a motion control is carried out by several FBs (BufferMode).
Active BOOL	TRUE	The command of the FB is currently executed.
CommandAborted BOOL	TRUE	The command was aborted by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID .
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.

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