MoveLinRel (linear motion by defined distance)

This state allows for coordinated traversing by the defined distance via linear motion ( MC_MoveLinearRelative ).

Inputs for this operating mode

Name

Data type

Information/possible settings

scPar

L_MC4P_AGBC_Parameter

Structure of the required FB parameters

Parameter (structure L_MC4P_AGBC_Parameter)

xMoveLinRelExecute

BOOL

FALSE รค TRUE

Instruct to move the axes group to a relative position in the specified coordinate system by means of a linear motion.

MC_MoveLinearRelative

alrSetPosDist

ARRAY [1..12] OF LREAL

Relative 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

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

Outputs for this operating mode

Name

Data type

Value/meaning

alrSetPosOut

ARRAY [1..12] OF LREAL

Setpoint position in the selected eCoordSystem coordinate system

alrActPos

ARRAY [1..12] OF LREAL

Current actual position in the selected eCoordSystem coordinate system

alrActFollowingError

ARRAY [1..12] OF LREAL

Current following error in the selected eCoordSystem coordinate system

alrSetVelOut

ARRAY [1..12] OF LREAL

Setpoint velocity in the selected eCoordSystem coordinate system

alrActVel

ARRAY [1..12] OF LREAL

Current actual velocity in the selected eCoordSystem coordinate system

lrSetPathVelOut

LREAL

TCP velocity

lrSetPathAccOut

LREAL

Acceleration of the TCP towards path direction

lrSetTCPAccOut

LREAL

Total acceleration of the TCP

lrSetRotVelOut

LREAL

Rotational velocity of the TCP in the axis/angle view

lrSetRotAccOut

LREAL

Rotational acceleration of the TCP in axis/angle view

Parameters for this operating mode

Name

Value/meaning

scPar.lrPathVel

LREAL

Maximum path velocity for the operating modes MoveLinAbs and MoveLinRel

scPar.lrPathAcc

LREAL

Maximum path acceleration for the operating modes MoveLinAbs and MoveLinRel

scPar.lrPathDec

LREAL

Maximum path deceleration for the operating modes MoveLinAbs and MoveLinRel

scPar.lrPathJerk

LREAL

Maximum path jerk for the operating modes MoveLinAbs and MoveLinRel

eOrientationMode

L_MC4P_Orientation_Mode

Specification of the orientation interpolation for WCS rotary axes (A, B, C axes), which are parametrised as modulo.

  • 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 aeDirection parameter.

See also: Direction selection for Modulo axes

aeDirection

ARRAY [1..6] OF MC_DIRECTION

Direction select for WCS rotary axes (A, B, C axes), which are parametrised as modulo.

The parameter is only evaluated in
eOrientationMode := L_MC4P_Orientation_Mode.AxisIndividual.

With MoveLinear motions, only the indices 4 to 6 (main axes A, B, C) are used.

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