Chapter 8 Motion Control Function
(4) Restrictions
Circular interpolation by center point 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)
(5) Operation pattern
- Starting position: (0.0, 0.0)
- Target position: (0.0, 0.0)
- Serve position: (1000.0, 1000.0)
- Method(CircMode): Center point(1)
- Direction(PathChoice): CW(0)
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