Groups 06/2005
Danaher
Motion
128 Rev
E
M-SS-005-03l
On the other hand:
xyTableGroup.Absolute = FALSE
Move xyTableGroup {100, 200}
moves xyTableGroup a distance of (100, 200) units from the start
position.
ABSOLUTE
defaults to INCREMENTAL. You can change
ABSOLUTE
any
time, although the effect does not take place until you issue the next
MOVE
.
6.9.7.
CIRCLE
The MC supports 2-axis circular interpolation with
CIRCLE
. In
CIRCLE
, you
specify:
Group name
Angle to rotate (in degrees, positive = counter-clockwise) along with
Center of the circle (
CIRCLECENTER
or
CTR
).
Target point (
TARGETPOINT
) along with another point on the arc
(
CIRCLEPOINT
).
Circle xyTable Angle=90 CircleCenter = {0,0}
or
Circle xyTable CirclePoint = {10,20} TargetPoint = {100,200}
A 2-axis circle is generated in a specified plane with incremental movement
in the third axis. That generate a 3 axis circle movement but not helical.
Circle xyTable CirclePoint = {10,20,10} TargetPoint =
{100,200,20} circleplane= xy
In the above example, the circle is implemented in the XY plane along with
the incremental change of the Z axis. Optionally, you can override the
following group properties with
CIRCLE
:
ABSOLUTE
ACCELERATION
ACCELERATIONRATE
DECELERATION
DECELERATIONRATE
JERK
JERKRATE
SMOOTHFACTOR
STARTTYPE
VELOCITYCRUISE
VELOCITYMAX
VELOCITYRATE
For example, you can enter the following absolute and incremental circular
moves:
Circle xyTable Angle=90 CTR = {0,0} Absolute = False
The value of
ANGLE
is not limited to 360. Greater values are specified to
turn the motor more than once. The sign of the angle determines the
direction of the motion. The value of
ANGLE
is not permanent. It exists only
in the context of the command in which it is specified. Consequently, you can
not query the value of
ANGLE
.
The value of
CIRCLECENTER
is not permanent. It exists only in the context
of the command in which it is specified. Consequently, you cannot query the
value of
CIRCLECENTER
.
