Approaching a relative Cartesian position with a circular motion

Description

The function block KRC_MoveCircRelative executes a circular motion to a Cartesian end position. In order for the robot controller to be able to calculate the circular motion, an auxiliary position must be specified in addition to the end position.

The coordinates of the auxiliary position and end position are relative to the current position (= start position of the circular motion). The auxiliary position cannot be approximated. The motion always stops exactly at this point.

	This statement always refers to the current position of the robot. If the motion is interrupted and then re-executed, the robot executes the entire motion again, starting from the position at which it was interrupted.

	If the motion is executed as a spline motion, the following must be taken into consideration: If the motion is approximated and there is no further motion instruction in the buffer, the output “Done” is not set for the spline motion. In this case, the motion is not ended at the end point, but at the approximate positioning point.

Approaching a relative Cartesian position with a circular motion 3: — Function block KRC_MoveCircRelative

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
Position	E6POS	Distance between end position and current position. The end position is based on the current position. (>>> E6POS) The data structure E6POS contains all components of the end position (= position of the TCP relative to the origin of the BASE coordinate system).
CircHP	E6POS	Coordinates of the Cartesian auxiliary position (relative to the current position) (>>> E6POS) The data structure E6POS contains all components of the auxiliary position (= position of the TCP relative to the origin of the BASE coordinate system).
Angle	REAL	Circular angle (= overall angle of the circular motion) The circular angle makes it possible to extend the motion beyond the programmed end point or to shorten it. The actual end point thus no longer corresponds to the programmed end point. The circular angle is not limited, i.e. a circular angle greater than ±360° can be specified: > 0.0°: In the case of a positive angle, the motion is carried out from the start point via CircHP towards Position. < 0.0°: In the case of a negative angle, the motion is carried out from the start point via Position towards CircHP. = 0.0°: The circular angle is ignored. End position is Position. The radius of the circle is calculated on the basis of the start position, CircHP and Position. Default: 0.0°
Velocity	INT	Velocity 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0% (= velocity is not changed)
Acceleration	INT	Acceleration 0 … 100% Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0% (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the auxiliary or end position refer (>>> COORDSYS)
OriType	INT	Orientation control of the TCP 0: VAR 1: CONSTANT 2: JOINT (>>> OriType)
CircType	INT	Orientation control during the circular motion 0: BASE 1: PATH (>>> CircType)
Approximate	APO	Approximation parameter (>>> APO)
BufferMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> BufferMode)
SplineMode	BOOL	TRUE = motion is executed as a spline motion. FALSE = motion is executed as a conventional circular motion.

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
Aborted	BOOL	TRUE = statement/motion has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number