Approaching an absolute Cartesian position with a circular motion

Description

The function block MC_MoveCircularAbsolute 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 absolute. The auxiliary position cannot be approximated. The motion always stops exactly at this point.

Approaching an absolute Cartesian position with a circular motion 1: — Function block MC_MoveCircularAbsolute

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
Execute	BOOL	Starts/buffers the motion in the case of a rising edge of the signal.
Position	E6POS	Coordinates of the Cartesian end 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 (>>> 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	REAL	Velocity for the path motion 0 … 2 m/s The maximum value is dependent on the robot type and refers to the value of DEF_VEL_CP of the robot system. Default: 0 m/s (= velocity is not changed)
Acceleration	REAL	Acceleration for the path motion 0 … 2.3 m/s² The maximum value is dependent on the robot type and refers to the value of DEF_ACC_CP of the robot system. Default: 0 m/s² (= acceleration is not changed)
CoordinateSystem	COORDSYS	Coordinate system to which the Cartesian coordinates of the auxiliary or end position refer (>>> COORDSYS) Note: In the case of a circular motion, the Cartesian coordinates always refer to the BASE coordinate system.
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)
QueueMode	INT	Mode in which the statement is executed 1: ABORTING 2: BUFFERED (>>> QueueMode)

Outputs

Parameter	Type	Description
ComAcpt	BOOL	TRUE = statement was completely transferred and confirmed by the robot controller.
ComBusy	BOOL	TRUE = statement was transferred and confirmed by the robot controller, but has not yet been executed completely.
Busy	BOOL	TRUE = function block has not yet been executed completely.
Active	BOOL	TRUE = motion is currently being executed
Done	BOOL	TRUE = motion has stopped
CommandAborted	BOOL	TRUE = statement/motion has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number