MC_MoveCircularRelative (FB)¶

FUNCTION_BLOCK FINAL MC_MoveCircularRelative

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

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

In case of SMC_CIRC_MODE.BORDER or SMC_CIRC_MODE.CENTER, the auxiliary point is interpreted relative to the start position, too.

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. The points are specified relatively, i.e. the perpendicular vector begins at the satrting point and ends in the spearhead point specified at the input signal `AuxPoint`.
	`AuxPoint`	SMC_POS_REF		Auxiliary point in the specified coordinate system. The point is relative to the starting point. See `CircMode`.
	`EndPoint`	SMC_POS_REF		End position in the specified coordinate system. The point is relative to the starting point.
	`PathChoice`	MC_CIRC_PATHCHOICE		Choice of path: clockwise or counter-clockwise.
	`Velocity`	`LREAL`		Maximum path velocity [u/s] for the coordinate system in which the path is defined. 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		Defined the 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`.