CIRCLE (179)

CIRCLE (179)

ID                          179

Group: MOTION

Short description:

Function that performs a motion with circular interpolation between 2 axes.

Inputs (18):

Notes: input parameters: vel, acc, dec, acc_jerk, dec_jerk must be non-zero otherwise the block will not move.  

Outputs (1):

 Settings:

Description:

After receiving the signal at the input 'start_cw' or 'start_ccw', the block generates the trajectory of movement in each subsequent cycle. The speed, position and acceleration of each axis are transferred to the appropriate registers assigned to the virtual axis data. The movement takes place in a circle with the resultant speed set at the block input. The resultant initial speed of the movement is vel_begin, the final speed is vel_end.

A signal at the stop input causes the speed to suddenly decelerate to zero.

The AXER controller can control the motion of two axes with circular interpolation. Movement can take place in one of three planes: XY, XZ, YZ (generally in the UV axes where U is X or Y and V is Y or Z - see table B.179.1). In order to select the plane of movement, the input states 'xy', 'xz', 'yz' should be set appropriately. The description below has been made assuming that the UV plane is the plane of circular motion.

The CIRCLE function block performs the motion of two axes with circular interpolation in absolute coordinates from the current position P1 = (U1, V1) to the absolute position P2 = (U2, V2) on a circle centered at P0 = (U1 + I, V1 + J) . The positions I and J are always taken into account as relative values ​​(in relation to the point P1). The motion parameters are taken from the inputs of the block. The movement takes place at the resultant speed.

Table B.179.1. U and v coordinate assignment for circular motion.

Fig. B.179.1. Illustration of a circular motion of two axes with a radius r and center at Po from point P1 to P2 caused by using the CIRCLE function block. Dir = 1 move clockwise, Dir = -1 move counterclockwise.

U, V : Real – coordinates of the target point P2,

I, J: Real – relative coordinates of the circle center, in relation to the point P1,

Dir: Int – clockwise motion for Dir = 1 or counter clockwise for Dir = -1.

In case of incorrect input data, the 'Error' output will show a high state for one program cycle. Such a state may be caused, for example, by incorrectly given coordinates of the circle center and, consequently, the impossibility of executing the movement.