489
7
7 Motion Control
CW: Clockwise arc interpolation; CCW: Counterclockwise arc interpolation
CW: Clockwise arc interpolation; CCW: Counterclockwise arc interpolation
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Overview
These instructions are used to perform clockwise or counterclockwise arc interpolation at combined output
frequency at two axes. 3-axis helix interpolation on three planes is supported.
CW
X_ Y_ Z_ I_ J_ K_ F_
Clockwise arc
interpolation, helix
interpolation
Applicable model:
H3U-PM
CW
X_ Y_ Z_ R_ F_
X X-axis position X-axis target position
Y Y-axis position Y-axis target position
Z Z-axis position Z-axis target position
I X-axis center X-axis center, used in the IJK (center) mode
J Y-axis center Y-axis center, used in the IJK (center) mode
K Z-axis center Z-axis center, used in the IJK (center) mode
R Arc radius Arc radius, used in the R (radius) mode
F
Combined
interpolation
speed
Combined interpolation output frequency
CCW
X_ Y_ Z_ I_ J_ K_ F_
Counterclockwise
arc interpolation,
helix interpolation
Applicable model:
H3U-PM
CCW
X_ Y_ Z_ R_ F_
X X-axis position X-axis target position
Y Y-axis position Y-axis target position
Z Z-axis position Z-axis target position
I X-axis center X-axis center, used in the IJK (center) mode
J Y-axis center Y-axis center, used in the IJK (center) mode
K Z-axis center Z-axis center, used in the IJK (center) mode
R Arc radius Arc radius, used in the R (radius) mode
F
Combined
interpolation
speed
Combined interpolation output frequency
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