Danaher Motion
06/2005
Groups
CIRCLETARGET
is a group size array. It specifies the target point of the
circle. This array is not queried.
CIRCLE,
defined using
CIRCLETARGET,
is limited to 360 degrees.
CIRCLEPOINT
is a position array that specifies a point on the arc. The arc
is calculated using the
CIRCLETARGET
and these points. This array is not
queried.
In case of 3 dimensions circle the active
CIRCLEPLANE
defines which
group axes participate in the circle movement. The third axis is moved
linearly. There are 3 plans that can be chosen: XY, XZ and YZ.
6.9.8. Chain
Commands
You can chain group
MOVE
s and
CIRCLE
s using
<group>.STARTTYPE
.
The following program makes a series of moves.
A1.Name = xAxis
A2.Name = yAxis
Common Shared xyTable as Group AxisName = xAxis AxisName = yAxis
From another task named MoveCircProgram:
Attach xyTable
xyTable.Absolute = TRUE ‘Move to start position
xyTable.StartType = INPOS ‘Move to start and wait to settle
Move xyTable {-3, -2}
While(xyTable.isSettled = False) ‘wait for settling
End While
‘Begin Pattern
xyTable.StartType = GCOM ‘Move smoothly from one move to the next
xyTable.Absolute = FALSE ‘Incremental moves
Move xyTable {0, 4}
Circle xyTable Angle = -90 CircleCenter = {-2, 2}
Move xyTable {4, 0}
Circle xyTable Angle = -90 CircleCenter = { 2, 2}
Move xyTable {0,-4}
Circle xyTable Angle = -90 CircleCenter = { 2,-2}
Move xyTable {-4,0}
Circle xyTable Angle = -90 CircleCenter = {-2,-2}
While(xyTable.isSettled = False) ‘wait for settling
Detach xyTable
End Program
6.9.9. Blending
Two movements blend tighter to smooth connection points. There are two
ways to blend the movements: preserving the movement’s path (
CP
) or
superposition. Set the blending method's ID with
BLENDINGMETHOD
.
The continuous path method (
CP
) blends where
continuity and velocity smoothness are required
(gluing, dispensing, …). It is less useful for high-
speed pick and place applications where cycle
time is the main quality measurement. Using this
blending method, you ensure that maximum
space velocities are never exceeded and the
original path is always followed. The segment's
middle point is always part of the blended path.
Only two consecutive motions can be blended
together.
C
P
A
B
C
M-SS-005-03 Rev
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