LSIS XGT Series - Page 29

Chapter 1 Overview
1-8
2) If the goal position is same as starting position, it is available to have an operation like a circle that
has distance from starting point to auxiliary point as its radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center point
of the circle
Starting position
& Goal position
Operating by circular interpolation
Reverse Direction
3) The direction of movement is determined according to the selection of paths (CW, CCW) to be set at
the time of motion function block.
(3) Radius Specified Circular interpolation
(a) Starts operating from starting position and execute circular interpolation along trace of circular arc thathas
value designated in auxiliary point of main axis as it radius. An arc whose central point varies depending on
the sign of the radius is drawn.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center
point
Operating by circular interpolation when
the sign of the radius < 0
Reverse Direction
Center
point
Circular angle
< 180°
Circular angle >= 180
°
Operating by circular
interpolation when the
sign of the radius > 0
Starting
Position
(b) In radius designation form, goal position can not be set the same as starting position.
(c) The operational directions and the size of the arc are determined by the path selection (CW, CCW) of circular
interpolation commands and the sign of the radius.