MC_MoveCircularRelative – Circular move to position (relative to execution point)

Block SymbolLicensing group: COORDINATED MOTION

Function Description
The function block description is not yet available. Below you can find partial description of the inputs, outputs and parameters of the block. Complete documentation will be available in future revisions.

Inputs

uAxesGroup	Axes group reference	Reference
Execute	The block is activated on rising edge	Bool
CircMode	Specifies the meaning of the input signals AuxPoint and CircDirection	Long (I32)
	1 .... BORDER 2 .... CENTER 3 .... RADIUS
AuxPoint	Next coordinates to define circle (depend on CircMode)	Reference
EndPoint	Target axes coordinates position	Reference
PathChoice	Choice of path	Long (I32)
	1 .... Clockwise 2 .... CounterClockwise
Velocity	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)
CoordSystem	Reference to the coordinate system used	Long (I32)
	1 .... ACS 2 .... MCS 3 .... PCS
BufferMode	Buffering mode	Long (I32)
	1 .... Aborting 2 .... Buffered 3 .... Blending low 4 .... Blending high 5 .... Blending previous 6 .... Blending next
TransitionMode	Transition mode in blending mode	Long (I32)
	1 .... TMNone 2 .... TMStartVelocity 3 .... TMConstantVelocity 4 .... TMCornerDistance 5 .... TMMaxCornerDeviation 11 ... Smooth
TransitionParameter	Parametr for transition (depends on transition mode)	Double (F64)

Outputs

yAxesGroup	Axes group reference	Reference
Done	Algorithm finished	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

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