Omron trajexia CJ1W-MCH72 Operation Manual page 206

All BASIC commands
4-2-161 MOVECIRC
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Example A pallet consists of a 6 by 8 grid in which gas canisters are inserted 185
mm apart by a packaging machine. The canisters are picked up from a
fixed point. The first position in the pallet is defined as position 0,0 with
the DEFPOS command. The part of the program to position the canis-
ters in the pallet is:
FOR x=0 TO 5
FOR y=0 TO 7
MOVEABS(-340,-516.5) 'move to pick-up point
WAIT IDLE
GOSUB pick 'call pick up subroutine
PRINT Move to Position: ;x*6+y+1
MOVEABS(x*185,y*185) 'move to position in grid
WAIT IDLE
GOSUB place 'call place down subroutine
NEXT y
NEXT x
See also AXIS, MOVE, MOVEABS, UNITS.
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Type Axis command
Syntax MOVECIRC(end_1,end_2,centre_1,centre_2,direction)
MC(end_1,end_2,centre_1,centre_2,direction)
Description The MOVECIRC command interpolates 2 orthogonal axes in a circular
arc at the tool point. The path of the movement is determined by the 5
arguments, which are incremental from the current position.
The arguments end_1 and centre_1 apply to the BASE axis and end_2
and centre_2 apply to the following axis. All arguments are given in
user units of each axis. The speed of movement along the circular arc is
set by the SPEED, ACCEL and DECEL parameters of the BASE axis.
The first four distance parameters are scaled according to the current
unit conversion factor for the BASE axis.
MOVECIRC works on the default basis axis group (set with BASE)
unless AXIS is used to specify a temporary base axis.
For MOVECIRC to be correctly executed, the two axes moving in the
circular arc must have the same number of encoder pulses per linear
axis distance. If they do not, it is possible to adjust the encoder scales in
many cases by adjusting with ENCODER_RATIO axis parameters for
the axis.
Section 4-2
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