MC_MoveCircularAbsolute (FB)¶

FUNCTION_BLOCK FINAL MC_MoveCircularAbsolute

This function block commands a circular movement of an axis group to an absolute position in the specified coordinate system.

The arc segment can be described in several ways, depending on the value of input CircMode.

Note

The velocity/acc-/deceleration/jerk of each axis are properties of each axis and not specified within this function block. See also inputs VelFactor, AccFactor and JerkFactor.

InOut:

Scope	Name	Type	Initial	Comment
Inout	`AxisGroup`	AXIS_GROUP_REF_SM3		Reference to a group of axes
Input	`Execute`	`BOOL`		Start the motion at rising edge
	`CircMode`	SMC_CIRC_MODE		Specifies the meaning of the inputs `AuxPoint` and `CircDirection`. See SMC_CIRC_MODE.
	`AuxPoint`	SMC_POS_REF		Auxilliary point in the specified coordinate system. See `CircMode`.
	`EndPoint`	SMC_POS_REF		End position in the specified coordinate system
	`PathChoice`	MC_CIRC_PATHCHOICE		Choice of path: clockwise or counter-clockwise.
	`Velocity`	`LREAL`		Maximum path velocity [u/s]. Always positive. Not necessarily reached.
	`Acceleration`	`LREAL`		Maximum path acceleration [u/s²]. Always positive. Not necessarily reached.
	`Deceleration`	`LREAL`		Maximum path deceleration [u/s²]. Always positive. Not necessarily reached.
	`Jerk`	`LREAL`		Maximum path jerk [u/s³]. Always positive. Not necessarily reached.
	`CoordSystem`	SMC_COORD_SYSTEM		Applicable coordinate system
	`BufferMode`	`MC_BUFFER_MODE`		Defines the chronological sequence of the FB relative to the previous block.
	`TransitionMode`	MC_TRANSITION_MODE		Defines the way of blending in case of a blending buffer mode
	`TransitionParameter`	ARRAY [0..(SMC_RCNST.MAX_TRANS_PARAMS - 1)] OF LREAL		Parameters for blending
	`OrientationMode`	SMC_ORIENTATION_MODE		Determines how the orientation is interpolated.
	`VelFactor`	`LREAL`	1	The maximum velocity of each axis is multiplied by this factor, which must be in the range ]0, 1].
	`AccFactor`	`LREAL`	1	The maximum acceleration of each axis is multiplied by this factor, which must be in the range ]0, 1].
	`JerkFactor`	`LREAL`	1	The maximum jerk of each axis is multiplied by this factor, which must be in the range ]0, 1].
	`TorqueFactor`	`LREAL`	1	The maximum torque of each axis is multiplied by this factor, which must be in the range ]0, 1]. A dynamic model must have been set using SMC_GroupSetDynamics for this factor to have an effect.
Output	`Done`	`BOOL`		Commanded end positions reached for all axes
	`Busy`	`BOOL`		The FB is not finished
	`Active`	`BOOL`		Indicates that the FB has control on the axis
	`CommandAborted`	`BOOL`		Command is aborted by another command
	`CommandAccepted`	`BOOL`		The command has been accepted by the axis group. If the output becomes `TRUE`, the function block instance can be used to command the next movement with a new rising edge on `Execute`. While the output is `FALSE`, keep calling the function block without a new rising edge of `Execute`. The output is reset to `FALSE` on a falling edge of `Execute`.
	`Error`	`BOOL`		Signals that an error has occurred within the function block
	`ErrorID`	`SMC_ERROR`		Error identification
	`MovementId`	`SMC_Movement_Id`		The unique identifier of the movement. Valid if `CommandAccepted` or `Done` is `TRUE`.