MC-Basic:CIRCLE

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The CIRCLE command issues a circular(arc) path trajectory for the specified group/robot, and uses the properties of that group.

The CIRCLE command has two formats. One specifies the group name, the angle and the circle center. This format enables multi-turn circular motion. The other is defined by a circle point and the final point of the arc.

The optional properties override the permanent values of the properties for the duration of the command. When using an optional property, the keyword must be specified.

For robot models the CIRCLE command issues a circular path in Cartesian space (XYZ). Orientation angles are interpolated proportionally to the circle angle.

For PUMA robots the orientation vector is kept orthogonal to the circular path.

Syntax

Circle <group> Angle = <angle> CircleCenter = {<vector>} {CirclePlane = <circle plane>} {spiralPitch = <pitch>} {Optional Nodal Property}*

Or

Circle <group> CirclePoint = <vector> TargetPoint = {<vector>} {Optional Nodal Property}*

Availability

All versions

Type

Double

Range

<group>: An existing group
<angle>: ± MaxDouble - Positive values describe CCW and negative CW rotations

<circle plane>:

• 0 (XY)
• 1 (XZ)
• 2 (YZ)

<spiralPitch>: ± MaxDouble - Positive values describe CCW and negative CW rotations

<vector>: location or joint value

Default

Permanent property values are used unless specified otherwise. Final velocity is 0.

Scope

Task or Terminal

Limitations

• Applicable only to groups.
• A group cannot be moved if an axis from the group is being moved individually.
• A group must be attached in order to be moved from within a task.

Examples

Circle XYTable Angle = 90 CircleCenter = {20,10} Vtran = 500

Circle XYtable CirclePoint = {10,20} TargetPoint = {100,200} Vtran = 500

Half Circle

Here is a simple example for generating half circle motion with a delta (XYZR) robot. ?'"`UNIQ--syntaxhighlight-00000001-QINU`"'?

Helical

Here is a simple example for circle in 3D. The circle itself was defined at XY plane with additional movement in Z axis.
The code :
At the config file:

System.NumberAxes = 3
common shared Axes[3] as generic axis
common shared temp_grp as group Axnm = a1 Axnm = a2 Axnm = a3 
common shared PLANE_XY as const long =0
common shared PLANE_XZ as const long =1
common shared PLANE_YZ as const long =2
Program
Axes[1] = a1
Axes[2] = a2
Axes[3] = a3
sys.DoubleFormat = 1
sys.Name = "Helical"
with temp_grp 
End Program

The setup stage:

dim shared pdl as long = 2
Program continue
dim i as long = 1
for i = 1 to 3
attach Axes[i] 
' **** Setting Motion Parameters ****
Axes[i].fmode = 0
Axes[i].pemax = 10
Axes[i].pfac = 2^16 
Axes[i].vfac = Axes[i].pfac/1000/60
Axes[i].afac = Axes[i].vfac/1000
Axes[i].jfac = Axes[i].afac/1000
Axes[i].VCruise = 1000
Axes[i].vmax = 3000
Axes[i].vospd = Axes[i].vmax * 1.2
Axes[i].velocitysafetylimit = Axes[i].vmax * 1.5
Axes[i].amax = 30000
Axes[i].dmax = 30000
Axes[i].jmax = 300000
Axes[i].acc = Axes[i].amax
Axes[i].dec = Axes[i].dmax
Axes[i].jerk = Axes[i].jmax 
Axes[i].simulated = ON 
detach Axes[i] 
next
call SetGroup 
terminate Program

The used subroutine and fumction at setup:

sub SetGroup
attach
en=0
vord = 100
Print ".... "; ElementName; " - kinematics/geometric setup"
PeMax = 1 ' follwing error in mm (envelope)
smooth = -1
prftype = 1
vfac = 1/1000
afac = vfac/1000
jfac = afac/1000 
vmax = max(j1.vmax,j2.vmax)
amax = max(j1.amax,j2.amax)
dmax = amax 
decstop = 1.1*dmax
jmax = max(j1.jmax,j2.jmax)
PositionErrorDelay = pdl
abs = 1 
vcruise = 0.5 * Vmax
acc = amax
dec = dmax
jmax = 10*amax
jerk= jmax
PositionErrorSettle = 0.1 ' 100um
BlendingMethod = 0 
configgroup 
detach
end sub

function max(byval a as double, byval b as double ) as double
if a > b then
max = a
else
max = b
end if
end function

And the actual program:

dim shared circle_center[8] as joint of XYZ
program
dim index as long = 1
attach
?VesExecute(" sys.Motion= ON")
call InitBuffer
abs = 1
en =1 
move {0 , 0 , 0} vcruise = 100 acc= 3000
move {25 , 0 , 0} vcruise =100 acc= 3000 
call StillMoving 
record test11.rec 100000 gap =1 recdata = pcmd{1} , pcmd{2}, pcmd{3}
recordon 
' Start "helical"
for index = 1 to 8 
Circle Angle = 180 CircleCenter = (circle_center[index]+ {0,0,index*5}) Vtran = 500 CirclePlane = PLANE_XY 
call StillMoving
print "Position" , pcmd , index
next 
sleep 10
recordclose
detach
end program 

The used subroutines:

sub StillMoving
while ismoving <> 0
sleep 1
end while
end sub

sub InitBuffer
dim index as long
for index=1 to 8 step 2
circle_center[index] = {0,0,0}
next
for index=2 to 8 step 2
circle_center[index] = {12.5,0,0} 
next
end sub

The results:

See Also

• group.CIRCLECENTER
• group.ANGLE
• group.CIRCLETYPE
• group.CIRCLEPOINT
• group.CIRCLEPLANE