Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Parameter
Type
Description
Position
E6POS
Coordinates of the Cartesian end position
(
The data structure E6POS contains all components of
the end position (= position of the TCP relative to the ori-
gin of the BASE coordinate system).
CircHP
E6POS
Coordinates of the Cartesian auxiliary position
(
The data structure E6POS contains all components of
the auxiliary position (= position of the TCP relative to the
origin of the BASE coordinate system).
CoordinateSys-
tem
COORDSYS
Coordinate system to which the Cartesian coordinates of
the auxiliary or end position refer
(
Note
: In the case of a CIRC_REL motion, the Cartesian
coordinates always refer to the BASE coordinate system.
Approximate
APO
Approximation parameter
(
AxisGroupIdx
INT
Index of axis group
ExecuteCmd
BOOL
Starts/buffers the motion in the case of a rising edge of
the signal.
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 pro-
grammed 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 depends on the robot type and
the selected operating mode.
Default:
0%
(= velocity is not changed)
