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 in the coordinate system as specified by the CoordSystem argument.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A rising edge is the transition of a digital signal from low to high. It is also called 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	No range	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 for more information. 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 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 for more information. 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	No range	N/A	No default	Specifies the direction of the path. This argument is only relevant when CircMode is MC_CIRC_MODE_CENTER.
Velocity	LREAL	0 < Velocity < (20 * Acceleration) and 0 < Velocity < (20 * Deceleration)	User unit/sec	No default	Maximum velocity of the defined path. See Limitations on Acceleration and Jerk for more information.
Acceleration	LREAL	0 < Velocity < (20 * Acceleration)	User unit/sec²	No default	Maximum acceleration. See Limitations on Acceleration and Jerk for more information.
Deceleration	LREAL	0 < Velocity < (20 * Deceleration)	User unit/sec²	No default	Maximum deceleration. See Limitations on Acceleration and Jerk for more information.
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 In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time. See Limitations on Acceleration and Jerk for more information.
CoordSystem	SINT	One of these enumeration values: MC_COORDINATE_SYSTEM_ACS = 0 MC_COORDINATE_SYSTEM_MCS = 1 MC_COORDINATE_SYSTEM_PCS = 2	N/A	No default	The coordinate system used when commanding the circular relative move. Currently, only the ACS coordinate system is supported. See Coordinate Systems for more information.
BufferMode	SINT One of these enumeration values: MC_BUFFER_MODE_ABORTING = 0 = Abort MC_BUFFER_MODE_BUFFERED = 1 = Buffered MC_BUFFER_MODE_BLENDING_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	No range	N/A	No default	Defines the chronological sequence of the function block relative to the previous block. See Buffer Modes for more information. 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 in the `TransitionMode` input to avoid this.
TransitionMode	SINT	The value is limited to: MC_TRANSITION_MODE_NONE = 0 MC_TRANSITION_MODE_CORNER_DISTANCE = 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 for more information.
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 Mode Parameters for more information.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	If TRUE, the command completed successfully.
Busy	BOOL	No range	N/A	If TRUE, the function block is executing.
Active	BOOL	No range	N/A	If TRUE, the function block is controlling motion.
CommandAborted	BOOL	No range	N/A	If TRUE, the command was aborted by another function block.
Error	BOOL	No range	N/A	If TRUE, an error has occurred.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See the table in PLCopen Function Block ErrorIDs.

Remarks

See Coordinated Motion, the top-level topic for Coordinated Motion.
See Circular Moves Diagrams for more information 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.
- S-Curve motion is not currently supported.
- The Jerk input is currently ignored.
- S-Curve motion and the Jerk argument will be supported in a future release.

Figure 6-149: 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 );