BASIC commands
PROGRAMMING MANUAL
138
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3.2.194 MOVECIRC
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Example
In a series of buffered moves using the look ahead buffer with
MERGE
=ON,
an absolute move is required where the incoming vector speed is 40units/
second and the finishing vector speed is 20 units/second.
FORCE_SPEED=40
ENDMOVE_SPEED=20
MOVEABSSP(100,100)
See also
MOVEABS
,
FORCE_SPEED
,
ENDMOVE_SPEED
Type
Axis command
Syntax
MOVECIRC(end_1,end_2,centre_1,centre_2,direction)
MC(end_1,end_2,centre_1,centre_2,direction)
Description
The
MOVECIRC
command interpolates 2 orthogonal axes in a circular arc at
the tool point. The path of the movement is determined by the 5 arguments,
which are incremental 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. The first four dis-
tance parameters are scaled according to the current unit conversion factor
for the
BASE
axis.
MOVECIRC
works on the default basis axis group (set with
BASE
) unless
AXIS
is used to specify a temporary base axis.
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
ENCODER_RATIO
axis parameters for a Flexible axis or with
the gear ratio in the Servo Drive of a MECHATROLINK axis.