LSIS XGT Series - Page 309

Chapter 6 Motion Function Blocks
6-170
(b) Circular Interpolation Using Center Point Specification (CircMode = 1)
This method is to perform the circular interpolation to the target position by starting operation at the start position, and
following a circular trajectory of which diameter corresponds to the distance to the designated center point. In the figure
below, the current position corresponds to the axes group coordinate at the start of the command, the center point
corresponds to the coordinate input for the AuxPoint, and the target position corresponds to the relative coordinate input
for the EndPoint.
EndPoint
AuxPoint
Start Point
X axis
Y
axis
(c) Circular Interpolation using Radius Speciation (CircMode = 2)
This method is to perform the circular interpolation to the target position by starting operation at the current position,
passing the designated center point, and reaching the target position. In the figure below, the current position
corresponds to the axes group coordinate at the start of the command, the diameter corresponds to the X coordinate
input for the AuxPoint, and the target position corresponds to the relative coordinate input for the EndPoint.
EndPoint
Radius
(AuxPoint)
StartPoint
X axis
Y
axis
(6) Refer to chapter 8.4.7 circular interpolation control in motion controller’s manual for more details.
(7) The changed parameters are applied by re-executing the function block (Execute input is On) before the command is
completed. Only, Velocity, Acceleration, Deceleration, Jerk, AuxPoint, Endpoint input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example is to set the center point specification when the current command position is 1000, 1000 (set the relative
position from the center point to set from the current position), and move clock-wise to perform circular interpolation to the
target position (set the relative position to the target position from the current position: 0, 0).