MC_MoveCircRel

This function block commands a circular interpolated motion of the axes of an axis group by specifying the target position by specifying relative distances.

Block diagram

FB parameters

VAR_IN_OUT

Variable name

Data type

Description

AxesGroup

AXES_GROUP_REF

Axis group reference

VAR_INPUT

Variable name

Data type

Description

Execute

BOOL

The linear interpolated motion of the axes starts on a rising edge corresponding to the specified relative distances.

CircMode

MC_CIRC_MODE

This input defines the meaning of the values at the “AuxPoint” and “PathChoice” inputs. The permitted values for this input are:

mcCenter = 1

mcRadius = 2

and they are described in more detail in Meaning of the “CircMode“ input with relative programming.

AuxPoint

ARRAY [0..HLI_CH_AX_MAXIDX] OF LREAL

Relative coordinates of a point in the current coordinate system. The type of additional point is defined by the value at the “CircMode“ input.

Default unit [0.1 µm]

EndPoint

ARRAY [0..HLI_CH_AX_MAXIDX] OF LREAL

Relative coordinates of the end point of a circular motion in the current coordinate system.

Default unit [0.1 µm]

PathChoice

MC_CIRC_PATHCHOICE

Determines whether the motion is travelled from the start point to the end point in a clockwise or counter clockwise direction on the circular path defined by the values of “CircMode”, “AuxPoint” and “EndPoint”.

The permitted values for this input are described in the Meaning of the “PathChoice“ input input.

MainPlane

MCV_MAIN_PLANE

The value of this input defines the main plane of the programming coordinate system where the circle is interpolated.

The permitted values for this input are:

mcvMpXY = 0

mcvMpZX = 1

mcvMpYZ = 2

Velocity

LREAL

Maximum path velocity of the motion. This value need not be reached.

Default unit [10-3 °/ s]

BufferMode

MC_BUFFER_MODE

The input defines when a job is activated provided that other jobs are already active when the FB is commanded or are waiting for execution. It also defines the path generated at the transition between 2 jobs. The following values are possible:

mcAborting           = 0

mcBuffered           = 1

mcBlendingPrev   = 3

TransitionMode

UDINT

0:   TMNone (no transition motion is inserted, default setting)

2:   TMConstantVelocity

3:   TMCornerDistance

4:   TMMaxCornerDeviation

10: TMConstDeviation

11: TMIntermediatePoint

12: TMDynamicOptimized

TransitionParameter

MCV_ARRAY_TRANS_PARAM

See Section Path blending and transition modes

VAR_OUTPUT

Variable name

Data type

Description

Done

BOOL

TRUE indicates that the axes have reached their end position.

Busy

BOOL

TRUE indicates that the function block is executing a job.

Active

BOOL

TRUE indicates that the function block sent the command to the MC.

CommandAborted

BOOL

TRUE indicates that the currently active command sent by the FB was aborted by another command.

Error

BOOL

TRUE indicates that an error occurred.

ErrorID

WORD

Error code

JobID

UDINT

Ordinal number of the last job sent by the FB.

Notice

notice

If, due to the values specified at the “AuxPoint“ and “EndPoint“ inputs, a distance results in the direction of the 3rd main axis of the orthogonal coordinate system in the plane of the circular path, the application of this FB leads to a helical motion (see [PROG//Helical interpolation]).