MC_MoveCircularAbsolute

Function block MC_MoveCircularAbsolute
Commands an interpolated circular movement on an axis group from the current position of the tool center point. The end point and the auxiliary point (the meaning of both points depends on the CircMode mode you select) are defined absolutely in the specified coordinate system.
VAR_IN_OUT
B GroupIn AXES_GROUP_REF Reference to a group of axes. References are zero based. You can have up to 32 groups.
VAR_INPUT
B Execute BOOL Starts the motion at rising edge.
V ContinuousUpdate BOOL

If TRUE, when the function block (FB) is running and the values of the parameters are updated, the FB will use the new value. If FALSE, the FB won't use the new value.

NOTE:  This parameter is not supported.
B CircMode MC_CircMode Specifies the meaning of the input signal AuxPoint.
B AuxPoint ARRAY [0..63] OF LREAL Array [0..63] of absolute positions for each dimension in the specified coordinate system.
B EndPoint ARRAY [0..63] OF LREAL Array [0..63] of absolute positions for each dimension in the specified coordinate system.
E PathChoice MC_CircPathChoice Choice of path.
E Velocity LREAL Maximum velocity of the path for the coordinate system in which the path is defined. Always positive. Not necessarily reached. [unit/second]
E Acceleration LREAL Maximum acceleration. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second2] or [second]
E Deceleration LREAL Maximum deceleration. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second2] or [second]
E Jerk LREAL Maximum jerk. Always positive. Not necessarily reached. The unit is determined by MC_ProfileType. [unit/second3] or [second]
E CoordSystem MC_CoordSystem A coordinate system.
E BufferMode MC_BufferMode Defines how to blend the velocity of two function blocks.
E TransitionMode MC_TransitionMode Currently it inserts no transition curve.
E TransitionParameter ARRAY [0..63] OF LREAL Additional parameter for the transition mode. If TransitionMode is set to mcNone, this parameter has no effect.
VAR_OUTPUT
B Done BOOL Commanded end positions reached for all axes.
E Busy BOOL The function block is not finished.
E Active BOOL The function block has control on the axis group.
E CommandAborted BOOL The command is aborted by another command.
B Error BOOL Signals that an error has occurred within the function block.
E ErrorID MC_Error Error identification.
  • For more information about how absolute, relative, and additive work, see Motion.
  • For more information about how the axes move in the MC_CircMode mode, see Concepts > McCircMode.
  • For more information about how the blending modes work, see Concepts > Blend movements.

  • When you use blending in MoveCircular functions, you need to select a TransitionMode and fill in TransitionParameter, even if MoveCircular has not supported them yet. If you set them to mcNone and NULL with a blending mode, an error will occur.

 

  MC_MoveCircularAbsolute  
AXES_GROUP_REF   GroupIn   Group   AXES_GROUP_REF
BOOL   Execute   Done   BOOL
BOOL   ContinuousUpdate   Busy   BOOL
MC_CircMode   CircMode   Active   BOOL
ARRAY [0..63] OF LREAL   AuxPoint   CommandAborted   BOOL
ARRAY [0..63] OF LREAL   EndPoint   Error   BOOL
MC_CircPathChoice   PathChoice   ErrorID   MC_Error
LREAL   Velocity        
LREAL   Acceleration        
LREAL   Deceleration        
LREAL   Jerk        
MC_CoordSystem   CoordSystem        
MC_BufferMode   BufferMode        
MC_TransitionMode   TransitionMode        
ARRAY [0..63] OF LREAL   TransitionParameter