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7 Motion Control
CW: Clockwise arc interpolation; CCW: Counterclockwise arc interpolation
It indicates an counterclockwise arc interpolation, wherein (150, 100) indicates the target absolute position
of the x- and y-axes. When the target position is the same, an example is provided on generation of an arc
less than 180 degrees and more than 180 degrees in IJ (center coordinate) mode and in R (radius) mode
respectively.
1) The user needs to set an appropriate target position so that the correct target circular path can be
generated. In absolute position mode, when the specied target position of the axis at which the arc
interpolation is performed equals its current position, a complete circle is generated. In relative position
mode, when the specied target position of the axis at which the arc interpolation is performed is 0, a
complete circle is generated.
2) Either the IJ (center coordinate) or R (radius) mode is supported.
3) In IJ (center coordinate) mode, no matter it is absolute position interpolation or relative position
interpolation, I, J, or K only indicates the difference (offset) of the central coordinate relative to the
current position on the x-, y-, and z-axes.
4) In R (radius) mode, when the R value is larger than or equal to 0, it indicates an arc less than or equal
to 180 degrees. When the R value is smaller than 0, it indicates an arc more than 180 degrees. In R
(radius) mode, no complete circle can be generated.
5) More than 20 pulses shall be output along the arc during arc interpolation; otherwise, an error is
returned.
6) Up to 8,000,000 pulses can be output along the radius during arc interpolation. When converted
according to the default ratio, the radius is 4000 mm
7) The number of pulses output at the third axis shall be no more than 0.9 times that to be output along
the arc during helix interpolation; otherwise, an error is returned.
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