Chapter 8 Motion Control Function
3. Circular interpolation using radius specification method
(1) Circular interpolation is performed from starting position to target position along the trajectory of the arc that takes the
value set in circular interpolation auxiliary point. The arc that has center point depending on the sign of radius ((+): arc
angle <180°, (-): arc angle>=180°) is drawn.
Center
point
중심점
Arc < 180°
Arc >= 180°
「CW, Arc<180°」
Circular interpolation
action
Starting
position
Radius
Radius
「CW, Arc>=180°」
Circular interpolation action
Sub-axis
Forward
Main-axis
Forward
Origin
Center point
Arc < 180°
Radius
Sub-axis
Forward
Main-axis
Forward
Origin
Center point
「CCW, Arc>=180°」
Circular interpolation
action
Center
point
Arc>=180°
「CCW, Arc<180°」
Circular interpolation action
Starting
position
Radius
Goal
position
Goal position
CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°
(2) In circular interpolation of radius specification method, the target position cannot be set the same as starting
position.
(3) Movement direction and the size of the arc is determined by the sign of auxiliary point and directions (CW, C
CW) set in “PathChoice” of absolute position circular interpolation operation (MC_MoveCircularAbsolute) or relativ
e position interpolation operation (MC_MoveCircularRelative) motion function block
(4) Restrictions
Circular interpolation by radius 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 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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