Inovance H3U Series - Page 460

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6 Positioning and Interpolation G91G03: 2-axis counterclockwise relative position arc interpolation
used, parameters of Y0 such as the acceleration/deceleration time prevail.
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When the instruction ow switches to OFF during instruction execution , the system decelerates to
stop. The execution complete ag M8029 remains unchanged. After the instruction ow switches to
OFF, when the ag of pulse output is ON, the instruction is no longer driven by the instruction ow.
The following gure shows a pulse output diagram.
Current position
(start point)
(100, 50)
Y axis (Y1)
X axis(Y0)
Target position
(end point)
Offset(50,50)
(0,0)
Segment2
R=50
or
I=0, J=50
Segment1
R= -50
or
I=50, J=0
It indicates an counterclockwise arc interpolation, wherein, S1/S2 indicates the target relative position of the
x- and y-axes, such as (50,50) in the preceding gure. When the target position is the same, the example
for generation of an arc less than 180 degrees and more than 180 degrees when S3/S4 is in IJ (center
coordinate) mode and in R (radius) mode respectively is provided.
• In the rst segment, (I,J) = current center coordinate - starting position coordination ((150,50) - (100,50)) = (50,0).
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Program example
In the rst arc, the IJ (center coordinate) mode is used:
In the rst arc, the R (radius) mode is used:
In the second arc, the IJ (center coordinate) mode is used:
In the second arc, the R (radius) mode is used: