MC_MoveCircRel

PLCopen motion icon Pipe Network motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Commands interpolated circular movement on an axes group to the specified relative positions Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. in the coordinate system The reference system in which a coordinate or path is described. as specified by the CoordSystem argument.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to perform a circular relative move.
AxesGroup	AXES_GROUP_REF	No range	N/A	No default	The axis group that performs the circular relative move.
CircMode	SINT	One of these enumeration values: MC_CIRC_MODE_BORDER = 0 MC_CIRC_MODE_CENTER = 1	N/A	No default	Specifies the meaning of the AuxPoint[] input.
AuxPoint[]	LREAL	0, Number of axes in group - 1	N/A	No default	Required Precision 1 part in 100,000. See Precision Requirements for Circular Move Input Parameters. Description Array of relative positions for each axis in the group. In all cases the points are relative to the starting point. The meaning depends on the value of the CircMode input: MC_CIRC_MODE_BORDER AuxPoint defines a point on the circle which is crossed on the path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. from the starting to the end point. MC_CIRC_MODE_CENTER AuxPoint defines the center point of the circle.
EndPoint[]	LREAL	0, Number of axes in group - 1	N/A	No default	Required Precision 1 part in 100,000. See Precision Requirements for Circular Move Input Parameters. Description Array of relative end positions for each axis in the group.
PathChoice	SINT	One of these enumeration values: MC_CIRC_PATHCHOICE_CLOCKWISE = 0 = Clockwise MC_CIRC_PATHCHOICE_COUNTERCLOCKWISE = 1 = Counterclockwise	N/A	No default	Specifies the direction The orientation components of a vector in space. of the path. This argument is only relevant when CircMode is MC_CIRC_MODE_CENTER.
Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP	LREAL	0 < Velocity < (20 * Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)) and 0 < Velocity < (20 * Deceleration)	User unit/sec	No default	Maximum velocity of the defined path. See Limitations on Acceleration and Jerk.
Acceleration	LREAL	0 < Velocity < (20 * Acceleration)	User unit/sec²	No default	Maximum acceleration. See Limitations on Acceleration and Jerk.
Deceleration	LREAL	0 < Velocity < (20 * Deceleration)	User unit/sec²	No default	Maximum deceleration. See Limitations on Acceleration and Jerk.
Jerk	LREAL	Trapezoidal velocity profiles: 0 (zero) S-Curve velocity profiles: (Velocity / 20) < Acceleration < (2 * Jerk) and (Velocity / 20) < Deceleration < (2 * Jerk)	User unit/sec³	No default	Maximum jerk. See Limitations on Acceleration and Jerk.
CoordSystem	SINT	One of these enumeration values: MC_COORDINATE_SYSTEM_ACS Axes Coordinate System - The system of coordinates related to the physical motors and the single movements caused by the single drives. = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS Product Coordinate System or Program Coordinate System. The PCS is based on the MCS by shifting and maybe rotating the MCS. The Zero point of the PCS is related to the product and can be changed during runtime by the program. The real work piece can have a rotation or shift to the MCS coordinate system or even might be moving relative to the MCS coordinate system. By specifying a trajectory in PCS one is able to describe the trajectory independent from the machine situation. To map these two worlds (MCS to PCS and vice versa), a Cartesian or cylindrical transformation is normally done. = 2	N/A	No default	The coordinate system used when commanding the circular relative move. Only the ACS coordinate system is supported. See Coordinate Systems.
BufferMode	SINT	One of these enumeration values: MC_BUFFER_MODE_ABORTING = 0 = Abort MC_BUFFER_MODE_BUFFERED = 1 = Buffered MC_BUFFER_MODE_BLENDING A way that consecutive function blocks cooperate in the transition from the first to the next._PREVIOUS = 2 = Blending Previous MC_BUFFER_MODE_BLENDING_NEXT = 3 = Blending Next MC_BUFFER_MODE_BLENDING_LOW = 4 = Blending Low MC_BUFFER_MODE_BLENDING_HIGH = 5 = Blending High	N/A	No default	Defines the chronological sequence of the function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block relative to the previous block. See Buffer Modes. The blending modes (2, 3, 4, & 5) match the path velocity at the active move's endpoint. Some individual axis velocities can make an abrupt change if the path of the next move travels in a different direction. A transition move can be programmed The act of performing a sequence of instructions or commands. in the `TransitionMode` input to avoid this.
TransitionMode	SINT	The value is limited to: MC_TRANSITION_MODE_NONE = 0 MC_TRANSITION_MODE_CORNER DISTANCE The distance of the start point of the contour curve to the programmed target point. = 3	N/A	No default	Coupled with the TransitionParameter[ ], this input defines the shape and dynamics of the inserted contour to connect the current motion with the next motion in the queue. See Transition Between Moves.
TransitionParameter[ ]	LREAL	1, N	N/A	No default	This array is dependent on the specified TransitionMode. N values are supplier specified dependent on the selected TransitionMode. Transition parameter values are applied to the axis group. See Transition Between Moves.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	FALSE, TRUE	N/A	If TRUE, the command completed successfully.
Busy	BOOL	FALSE, TRUE	N/A	If TRUE, the function block is executing.
Active	BOOL	FALSE, TRUE	N/A	If TRUE, the function block is controlling motion.
CommandAborted	BOOL	FALSE, TRUE	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	FALSE, TRUE	N/A	If TRUE, an error has occurred.
ErrorID	INT	-32768 to +32767	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

See Coordinated Motion, the top-level topic for Coordinated Motion.
See Circular Moves Diagrams about movement options.
An error is returned if the group is in the GroupDisabled state.
When all motion has completed successfully, the axes group state is GroupStandby.

- Circular motion is only supported for axes groups with only two attached axes.

Figure 1: MC_MoveCircRel

FBD Language Example

FFLD Language Example

IL Language Example

      BEGIN_IL Instruction list - This is a low-level language and resembles assembly.    
     CAL Inst_MC_MoveCircRel( ExecuteMove, Group1_Ref, MC_CIRC_MODE_BORDER, AuxPoints, EndPoints, MC_CIRC_PATHCHOICE_CLOCKWISE, Velocity, Acceleration, Deceleration, Jerk, MC_COORDINATE_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING, MC_TRANSITION_MODE_NONE, TransitionParams )
END_IL

ST Language Example

Inst_MC_MoveCircRel( ExecuteMove, Group1_Ref, MC_CIRC_MODE_BORDER, AuxPoints, EndPoints, MC_CIRC_PATHCHOICE_CLOCKWISE, Velocity, Acceleration, Deceleration, Jerk, MC_COORDINATE_SYSTEM_ACS, MC_BUFFER_MODE_ABORTING, MC_TRANSITION_MODE_NONE, TransitionParams );