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All BASIC commands
Section 4-2
194
/i
4-2-158 MOVECIRC
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Example
A pallet consists of a 6 by 8 grid in which gas canisters are inserted 185
mm 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 with
the
DEFPOS
command. The part of the program to position the canis-
ters in the pallet is:
FOR x=0 TO 5
FOR y=0 TO 7
MOVEABS(-340,-516.5) 'move to pick-up point
WAIT IDLE
GOSUB pick 'call pick up subroutine
PRINT Move to Position: ;x*6+y+1
MOVEABS(x*185,y*185) 'move to position in grid
WAIT IDLE
GOSUB place 'call place down subroutine
NEXT y
NEXT x
See also
AXIS
,
MOVE
,
MOVEABS
,
UNITS
.
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 distance 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
the axis.
Содержание SYSMAC CJ Series
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Страница 84: ...FINS commands Section 3 4 72...
Страница 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...Section 265 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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