BASIC commands
PROGRAMMING MANUAL
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3.2.195 MOVECIRCSP
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3.2.196 MOVELINK
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Type
Axis command
Syntax
MOVECIRCSP(end_1, end_2, centre_1, centre_2, direction)
Description
Forced speed version of the
MOVECIRC
command. When the command is
loaded into the move buffer the
FORCE_SPEED
and
ENDMOVE_SPEED
is
copied into the buffer with the move.
This move type has exactly the same parameters as the non-forced speed
version
MOVECIRC
.
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.
•
centre_2
The position around which the next axis is to move.
•
direction
A software switch that determines whether the arc is interpolated in a
clockwise or counterclockwise direction. Value: 0 or 1.
If the two axes involved in the movement form a right-hand axis, set
direction to 0 to produce positive motion about the third (possibly imagi-
nary) orthogonal axis. If the two axes involved in the movement form a
left-hand axis. set direction to 0 to produce negative motion about the
third (possibly imaginary) orthogonal axis.
Example
No example.
See also
MOVECIRC
,
FORCE_SPEED
,
ENDMOVE_SPEED
Type
Axis command
Syntax
MOVELINK(distance, link_distance, link_acceleration,
link_deceleration, link_axis [ , link_option [ , link_position ]])
ML(distance, link_distance, link_acceleration, link_deceleration,
link_axis [ , link_option [ , link_position ]])
Description
The
MOVELINK
command creates a linear move on the base axis linked via
a software gearbox to the measured position of a link axis. The link axis can
move in either direction to drive the output motion.
The parameters show the distance the BASE axis moves for a certain dis-
tance of the link axis (
link_distance
). The link axis distance is divided into
three phases that apply to the movement of the base axis. These parts are
the acceleration, the constant speed and the deceleration. The link accelera-
tion and deceleration distances are specified by the
link_acceleration
and
link_deceleration
parameters. The constant speed link distance is derived
from the total link distance and these two parameters.
The three phases can be divided into separate
MOVELINK
commands or
can be added up together into one.
Consider the following two rules when setting up the
MOVELINK
command.
Rule 1: In an acceleration and deceleration phase with matching speed, the
link_distance
must be twice the distance. See the figure.
Rule 2: In a constant speed phase with matching speeds, the two axes travel
the same distance so the distance to move must equal the
link_distance
.
MOVELINK
works on the default basis axis group (set with
BASE
) unless
AXIS
is used to specify a temporary base axis. The axis set for
link_axis
drives the base axis.
MOVELINK
is designed for controlling movements such as:
•
Synchronization to conveyors
•
Flying shears
•
Thread chasing, tapping etc.
•
Coil winding
Note: If the sum of
link_acceleration
and
link_deceleration
is greater than
link_distance
, they are both reduced in proportion in order to equal the sum
to
link_distance
.