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MC_MoveCircularRelative – Circular move to position (relative to execution point)

Block SymbolLicensing group: COORDINATED MOTION
Qt SVG Document Exported by REXYGEN Studio uAxesGroup Execute CircMode AuxPoint EndPoint PathChoice Velocity Acceleration Deceleration Jerk LimitMode CoordSystem BufferMode TransitionMode TransitionParameter Superimposed yAxesGroup Done CommandAborted Busy Active Error ErrorID MC_MoveCircularRelative

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

image/svg+xmlStartingpointBorderpointEndpoint xy StartingpointCenterpointEndpoint xy StartingpointEndpoint xy Spearheadpointlength = Radious of the circleCircMode = BORDERCircMode = CENTERCircMode = RADIUS

Inputs

uAxesGroup

Axes group reference

Reference

Execute

The block is activated on rising edge

Bool

CircMode

Specifies the meaning of the input signals AuxPoint and CircDirection

Long (I32)

1 ....

BORDER

2 ....

CENTER

3 ....

RADIUS

AuxPoint

Next coordinates to define circle (depend on CircMode)

Reference

EndPoint

Target axes coordinates position

Reference

PathChoice

Choice of path

Long (I32)

1 ....

Clockwise

2 ....

CounterClockwise

Velocity

Maximal allowed velocity [unit/s]

Double (F64)

Acceleration

Maximal allowed acceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

CoordSystem

Reference to the coordinate system used

Long (I32)

1 ....

ACS

2 ....

MCS

3 ....

PCS

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting

2 ....

Buffered

3 ....

Blending low

4 ....

Blending high

5 ....

Blending previous

6 ....

Blending next

TransitionMode

Transition mode in blending mode

Long (I32)

1 ....

TMNone

2 ....

TMStartVelocity

3 ....

TMConstantVelocity

4 ....

TMCornerDistance

5 ....

TMMaxCornerDeviation

11 ...

Smooth

TransitionParameter

Parametr for transition (depends on transition mode)

Double (F64)

Outputs

yAxesGroup

Axes group reference

Reference

Done

Algorithm finished

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

image/svg+xmlvelocity2 0.5 velocity1 0.5 transition_parameter2 1 transition_parameter1 1 transition_mode2 1 transition_mode1 1 reference_to_groupaxes [axes_group] execute2 [execute2] execute1 [execute1] distance_orientation_of_effector2 − EndPoint 0 distance_orientation_of_effector1 − EndPoint 0 distance z2 − EndPoint 0 distance z2 − AuxPoint 0 distance z1 − EndPoint 0 distance z1 − AuxPoint 0 distance y2 − EndPoint −0.05 distance y2 − AuxPoint 0.05 distance y1 − EndPoint −0.1 distance y1 − AuxPoint −0.1 distance x2 − EndPoint 0.05 distance x2 − AuxPoint 0.05 distance x1 − EndPoint 0.1 distance x1 − AuxPoint −0.1 dintance_orientation_of_effector2 − AuxPoint 0 dintance_orientation_of_effector1 − AuxPoint 0 coord_system2 2 coord_system1 2 buffer_mode2 1 buffer_mode1 1 acceleration2 0.5 acceleration1 0.5 RTOV4 uVecu1u2u3u4u5u6u7u8yVec RTOV3 uVecu1u2u3u4u5u6u7u8yVec RTOV2 uVecu1u2u3u4u5u6u7u8yVec RTOV1 uVecu1u2u3u4u5u6u7u8yVec PathChoice2 1 PathChoice1 1 MC_MoveCircularRelative −Function Block 2 uAxesGroupExecuteCircModeAuxPointEndPointPathChoiceVelocityAccelerationJerkCoordSystemBufferModeTransitionModeTransitionParameteryAxesGroupDoneCommandAbortedBusyActiveErrorErrorID MC_MoveCircularRelative −Function Block 1 uAxesGroupExecuteCircModeAuxPointEndPointPathChoiceVelocityAccelerationJerkCoordSystemBufferModeTransitionModeTransitionParameteryAxesGroupDoneCommandAbortedBusyActiveErrorErrorID CircMode2 1 CircMode1 1

image/svg+xml

image/svg+xml2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Execute − MC_MoveCircularRelative −− Function Block 1 2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Active − MC_MoveCircularRelative −− Function Block 1 2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Done − MC_MoveCircularRelative −− Function Block 1 2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Execute − MC_MoveCircularRelative −− Function Block 2 2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Active − MC_MoveCircularRelative −− Function Block 2 2 2.5 3 3.5 4 4.5 5 5.5 6 0 0.5 1 bool Done − MC_MoveCircularRelative −− Function Block 2 2 2.5 3 3.5 4 4.5 5 5.5 6 −0.2 0 0.2 0.4 0.6 Velocity [rad/s] Velocity AxesGroup 2 2.5 3 3.5 4 4.5 5 5.5 6 0.8 1 1.2 commanded position ycommanded position yTime [s] Position [rad] Position AxesGroup x−axis y−axis

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