Chapter 8 Motion Control Function
8.2.8 Circular Interpolation Control
Interpolation operation is performed along the trajectory of the circle in the direction of axis progress set by using two axes set in the
axis group.
There are three kinds of methods for circular interpolation such as midpoint method that passes through the position specified in
auxiliary point, center point method that considers the position specified in auxiliary point as center point and radius method that takes
the value specified in auxiliary point as the radius of an arc depending on ‘CircMode’ settings and auxiliary points.
The interpolation that is currently being executed is stopped with group halt (MC_GroupHalt) or group immediate stop
(MC_GroupStop) motion function block.
1. Circular interpolation using midpoint specification method
(1) Circular interpolation is executed from starting position to target position through midpoint position set in auxiliary
point.
(2) The trajectory of the arc that takes an intersecting point caused by the vertical bisection of starting position and
midpoint position, and midpoint position and target position is created.
(3) Movement direction is automatically determined in accordance with the set target position and auxiliary point of
circular interpolation.
(4) Restrictions
Circular interpolation by midpoint specification method cannot be executed in the following cases.
• In case there is an axis which is in the origin undetermined state among configuration axes at the time of absolute
coordinate circular interpolation operation (error code: 0x20A0)
• In case the midpoint specified as auxiliary point is the same as the starting position or target position (error code: 0x20A4)
• In case starting position is the same as the target position (error code: 0x20A5)
• In case the calculated radius of the arc exceeds 2147483647pls (error code: 0x20A6)
• In case starting position, auxiliary point position and target position are in a straight line (error code: 0x20A7)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x20A8)
• In case the number of configuration axes in the axis group is four (error code: 0x20A9)
• In case axis group configuration settings are not set in order (error code: 0x20AA)
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