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159
Command, function and parameter description
Section 6-3
See also:
AXIS, MOVE, UNITS
Examples:
Example 1
An X-Y plotter has a pen carousel whose position is fixed relative to the plotter
origin. To change pen, an absolute move to the carousel position will find the
target irrespective of the plot position when the command is executed.
MOVEABS(20,350)
Example 2
A pallet consists of a 6 by 8 grid in which gas canisters are inserted 85mm
apart by a packaging machine. The canisters are picked up from a fixed point.
The first position in the pallet is defined as position (0,0) using the DEFPOS
command. The part of the program to position the canisters in the pallet is as
follows:
xloop:
FOR x = 0 TO 5
yloop:
FOR y = 0 TO 7
MOVEABS(-340,-516.5) ’Move to pick up point
GOSUB pick
’Go to pick up subroutine
PRINT "MOVE TO POSITION: ";x*6+y+1
MOVEABS(x*85,y*85)
GOSUB place
’Go to place down subroutine
NEXT y
NEXT x
6-3-118 MOVECIRC
Type:
Motion Control Command
Syntax:
MOVECIRC(
end_1
,
end_2
,
centre_1
,
centre_2
,
direction
)
Alternative:
MC(
end_1
,
end_2
,
centre_1
,
centre_2
,
direction
)
Description:
The MOVECIRC command interpolates 2 orthogonal axes in a circular arc.
The path of the movement is determined by the 5 arguments, which are incre-
mental from the current position.
The arguments
end_1
and
centre_1
apply to the base axis and
end_2
and
centre_2
apply to the following axis. All arguments are given in user units of
each axis. The speed of movement along the circular arc is set by the
SPEED, ACCEL and DECEL parameters of the base axis.
MOVECIRC works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis.
Precautions:
The MOVECIRC computes the radius and the total angle of rotation from the
centre, and end-point. If the endpoint does not lie on the calculated path, the
move simply ends at the computed end and not the specified end point. It is
the responsibility of the programmer to ensure that the two points correspond
to correct points on a circle.
For MOVECIRC to be correctly executed, the two axes moving in the circular
arc must have the same number of encoder pulses per linear axis distance. If
they do not, it is possible to adjust the encoder scales in many cases by
adjusting with PP_STEP axis parameters for the axis.
Arguments:
end_1
The end position for the base axis.
end_2
The end position for the next axis.
centre_1
The position around which the base axis is to move.