Yaskawa MotionWorks IEC Toolboxes - Manual (Page 267)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 254
Function Blocks
Calculate_Angles
This function block uses either a) two co-ordinates and center point of an arc or b) two co-ordinates and radius
of an arc to calculate start and traversed angles required for
PathStruct data type in the PathGenerator function
block
Parameters
* Parameter Data Type Description
VAR_INPUT Default
B Enable BOOL
The function will continue to execute while
enable is held high.
FALSE
B ArcDefinitionMode INT
Data entry mode the user wants to use. 0:
Two coordinates + Center coordinate of arc,
1: Two coordinates + radius of arc
0
B X1 LREAL X coordinate of the first coordinate 0.0
B Y1 LREAL Y coordinate of the first coordinate 0.0
B X2 LREAL X coordinate of the second coordinate 0.0
B Y2 LREAL Y coordinate of the second coordinate 0.0
B XC LREAL X coordinate of the center coordinate 0.0
B YC LREAL Y coordinate of the center coordinate 0.0