Input Description

MC_MoveCircularRelative

Note

The inputs marked with a triangle are of the class VAR_IN_OUT (input and output variable). These inputs must be connected to a variable.

Execute

Data type: BOOL

Starts the Function Block at rising edge.

CircMode

Data type: MC_CIRC_MODE

Specifies the meaning of the input signals ‘AuxPoint’ and ‘CircDirection’.

• MC_BORDER:

  ‘AuxPoint’ defines a point on the circle which is crossed on the path from the starting to the end point.

• MC_CENTER:

  ‘AuxPoint’ defines the center point of the circle.

• MC_RADIUS:

  ‘AuxPoint’ defines the spearhead point of the perpendicular of the circle plane according to the rule of right thumb. The radius of the circle is the length of the vector.

In the Function Block MC_MoveCircularAbsolute, the points are specified absolutely, i.e. the perpendicular vector begins in the origine and ends in the spearhead point specified at the input signal ‘AuxPoint’.

AuxPoint

Data type: ARRAY [1..3] OF REAL

Array of positions for each dimension in the coordinate system specified by the input signal CoordSystem. These positions are defined relatively to the according positions of the starting point.

EndPoint

Data type: ARRAY [1..3] OF REAL

Array of absolute positions for each dimension in the coordinate system specified by the input signal CoordSystem. These positions are defined relatively to the according positions of the starting point.

PathChoice

Data type: BOOL

Choice of path: False = clockwise, true = counterclockwise.

Velocity

Data type: LREAL, range: > 0, unit: u/s

Value of the maximum velocity (not necessarily reached).

Acceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the acceleration (increasing energy of the motor).

Deceleration

Data type: LREAL, range: > 0, unit: u/s²

Value of the deceleration (decreasing energy of the motor).

Jerk

Data type: LREAL, range: > 0, unit: u/s:sup:3

Value of the Jerk.

BufferMode

Data type: MC_BUFFERMODE, default: MC_Aborting, no other modes supported

Defines the behavior of the axis.

TransitionMode

Data type: MC_TRANSITION_MODE

The realization just supports by default a transition starting with the actual velocity.

TransitionParameter

Data type: LREAL

Additional parameter for the transition mode.

AxesGroup

Data type: AXES_GROUP_REF

Reference to a group of axes.