Is it possible to use a Robot 3D circular interpolation function in 2D Cartesian XZ robot ?

[giustola69]

Is it possible to use the 3D circular interpolation function to make a 2D circular interpolation for example for a XZ cartesian robot or I must use the 2D circular interpolation functions?

Here you have my code: if I run it for the 3 axis intepolatin plane XYZ is working good but I get an error when I run it for the 2 axis interpolation XZ

// Circular Interpolationplane XYZ

IF I_KinPlane = enXYZ THEN

      stML_KinMoveCircleData3D.In.KinName                      :=            I_strKinName;

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Meaning := IP_X;   

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Value := I_IntermediatePosition[0];

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Meaning := IP_Y;   

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Value := I_IntermediatePosition[1];

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[2].Meaning := IP_Z;   

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[2].Value := I_IntermediatePosition[2];

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[2].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleDataSize:=3;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Meaning:= X;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Value:=I_EndPosition[0];

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Meaning:= Y;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Value:=I_EndPosition[1];

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[2].Meaning:= Z;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[2].Value:=I_EndPosition[2];

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[2].Attribute:=ABS_VALUE;

      stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTargetSize:=3;

      stML_KinMoveCircleData3D.In.Source             :=         'Kin MoveCirc3DAbs function ';

       ML_KinMoveCircle3D(Data:= stML_KinMoveCircleData3D);

END_IF

// Circular Interpolationplane XY

IF I_KinPlane = enXY THEN

                                   stML_KinMoveCircleData3D.In.KinName                      :=            I_strKinName;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Meaning := IP_X;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Value := I_IntermediatePosition[0];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Meaning := IP_Y;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Value := I_IntermediatePosition[1];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleDataSize:=2;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Meaning:= X;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Value:=I_EndPosition[0];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Meaning:= Y;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Value:=I_EndPosition[1];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Attribute:=ABS_VALUE;

                                   stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTargetSize:=2;

                                   stML_KinMoveCircleData3D.In.Source             :=         'Kin MoveCirc3DAbs function ';

                                   ML_KinMoveCircle3D(Data:= stML_KinMoveCircleData3D);

END_IF

// Circular Interpolationplane XZ

IF I_KinPlane = enXZ THEN

                                   stML_KinMoveCircleData3D.In.KinName                      :=            I_strKinName;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Meaning := IP_X;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Value := I_IntermediatePosition[0];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Meaning := IP_Z;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Value := I_IntermediatePosition[1];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleDataSize:=2;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Meaning:= X;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Value:=I_EndPosition[0];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Meaning:= Z;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Value:=I_EndPosition[1];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Attribute:=ABS_VALUE;

                                   stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTargetSize:=2;

                                   stML_KinMoveCircleData3D.In.Source             :=         'Kin MoveCirc3DAbs function ';

                                   ML_KinMoveCircle3D(Data:= stML_KinMoveCircleData3D);

END_IF

// Circular Interpolationplane YZ

IF I_KinPlane = enYZ THEN

                                   stML_KinMoveCircleData3D.In.KinName                      :=            I_strKinName;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Meaning := IP_Y;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Value := I_IntermediatePosition[0];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Meaning := IP_Z;   

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Value := I_IntermediatePosition[1];

                        stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleData[1].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdCircleData.CmdKinCircleDataSize:=2;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Meaning:= Y;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Value:=I_EndPosition[0];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[0].Attribute:=ABS_VALUE;

                                    stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Meaning:= Z;

                                stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Value:=I_EndPosition[1];

                                  stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTarget[1].Attribute:=ABS_VALUE;

                                   stML_KinMoveCircleData3D.In.CmdKinPose.CmdKinTargetSize:=2;

                                   stML_KinMoveCircleData3D.In.Source             :=         'Kin MoveCirc3DAbs function ';

                                   ML_KinMoveCircle3D(Data:= stML_KinMoveCircleData3D);

END_IF

[CodeShepherd]

I did some tests with following results:

Working:

• XYZ cartesian with 3D circle
• XYZ cartesian with 2D circle
• XY cartesian with 2D circle

Not working:

• XY cartesian with 3D circle

I added my test program here so you can open it. 

In short: For commanding an 2D kinematic an 2D circle commands needs to be used.
In long: A 3D circle is not possible to use with a 2D kinematic, as the calculations are done 3-dimensional and so 3 coordinates are expected, but the transformation is not supporting 3 dimensions so only 2 coordinates are useable.