MC-Basic:CIRCLE/zh-hans

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缩写

格式

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

Or

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

适用版本

所有版本

描述

CIRCLE命令为指定的组/机器人发出圆（弧）路径轨迹，并使用该组的属性。
CIRCLE命令有两种格式。 一个指定组名称，角度和圆心。 该格式可用多圈圆周运动。 另一个由圆点和圆弧的最终点定义。
可选属性，在命令持续时间内的覆盖固定值。 使用可选属性时，必须指定该关键字。
对于机器人模型，CIRCLE命令在笛卡尔空间（XYZ）中发出圆形路径。 定向角度与圆角成比例地插值。
对于PUMA机器人，定向矢量保持与圆形路径正交。

类型

Double

取值范围

<group>: 现有的组
<angle>: ± MaxDouble - 正向为 CCW and 负方向旋转为 CW

<circle plane>:

  • 0 (XY)
  • 1 (XZ)
  • 2 (YZ)

<vector>: 位置或关节值

单位

默认

使用固定属性值，除非另有规定。最终速度为0。

使用范围

Task or Terminal

限制

  • 只应用于组
  • 如果组中的轴单独移动，则无法移动组。
  • 组必须关联到任务才能移动

例子

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

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

半圆

以下是使用delta（XYZR）机器人生成半圆运动的简单示例。 

Attach DELTA
	DELTA.En=1
	Record circPnt.rec 100000 Gap=1 RecData = DELTA.SetPoint{1},DELTA.SetPoint{2}, Sys.Clock
	Move DELTA #{100,0,426,0}
	Delay DELTA 3000
	RecordOn
	Circle DELTA CirclePoint=#{0,100,426,0} TargetPoint=#{-100,0,426,0}
	Delay DELTA 3000
	RecordClose
Detach DELTA
caption



螺旋

以下是3D中圆形的简单示例。 圆在XY平面上被定义为Z轴附加的移动。
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:

caption

参见

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