Mc_Movecircular2D; Variables - Omron Sysmac NY-series Instruction & Reference Manual

4 Axes Group Instructions

MC_MoveCircular2D

The MC_MoveCircular2D instruction performs circular interpolation for two axes.
Instruction Name
MC_MoveCircu- Circular 2D
lar2D Interpolation

Variables

Input Variables
Name Meaning
Execute Execute
CircAxes Circular Ax-
es
CircMode Circular In-
terpolation
Mode
4-46
FB/
Graphic expression
FUN
FB
MC_MoveCircular2D_instance
MC_MoveCircular2D
AxesGroup
Execute
CircAxes
CircMode
AuxPoint
EndPoint
PathChoice
Velocity
Acceleration
Deceleration
Jerk
CoordSystem
BufferMode
TransitionMode
MoveMode
Data type
BOOL TRUE or FALSE
ARRAY [0,1] OF
UINT
_eMC_CIRC_M 0: _mcBorder
ODE 1: _mcCenter
2: _mcRadius
AxesGroup
Done
Busy
Active
CommandAborted
Error
ErrorID
De-
Valid range
fault
FALS
E
0 to 3 0
*1
0
NY-series Motion Control Instructions Reference Manual (W561)
ST expression
MC_MoveCircular2D_instance (
AxesGroup :=parameter,
Execute :=parameter,
CircAxes :=parameter,
CircMode :=parameter,
AuxPoint :=parameter,
EndPoint :=parameter,
PathChoice :=parameter,
Velocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
CoordSystem :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
MoveMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Description
The instruction is executed
when the value of this variable
changes to TRUE.
Specify the axes for circular
interpolation.
0: Axis A0
1: Axis A1
2: Axis A2
3: Axis A3
Specify the method for circu-
lar interpolation.
0: Border point
1: Center
2: Radius