Chapter 1 Overview
(2) Circular Interpolation Control
Execute interpolation operation along the trace of circle with 2 axes in forward direction that already
designated for each axis.
Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point,
Center point method using auxiliary point as center of circle and Radius method using auxiliary point as radius
of circle.
The combination of 2 axes that used in circular interpolation is unlimited. Any of the two axes from the actual
axes (1-axis to 32-axis) or virtual axes (37-axis to 40-axis) can be used.)
(a) Middle Point Specified Circular interpolation
1) Starts operating at starting position and executes circular interpolation through the designated middle
point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection between
starting position and middle point or middle point and goal position.
Reverse
direction
Forward
direction
Forward
direction
Origin
Center point
of circular arc
Goal position
Middle point position
Starting point
Reverse
direction
3) Movement direction is automatically designated by goal position and auxiliary point of circular
interpolation.
(b) Center Point Specified Circular interpolation
1) Starts operating from starting position and execute circular interpolation along trace of circle that has
distance from starting point to designated center point as radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center point
of circular arc
Goal
Position
Operating by circular interpolation
Reverse Direction
Radius
Starting
position
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