LSIS XGT Series - Page 486

Chapter 8 Motion Control Function
8-95
3. Circular interpolation using center point specification
(1) Circular interpolation is performed by starting at the start position, and reaching the target position in a circular
trajectory of which the diameter is the distance to the designated center point.
(2) The movement direction is determined as the direction set in the absolute position circular interpolation operatio
n (MC_MoveCircularAbsolute2D), the relative position circular interpolation operation (MC_MoveCircularRelative2
D), or “PathChoice” of the motion function block.
▪ 0:「CW」 - perform circular interpolation in the clockwise direction from the start position.
▪ 1:「CCW」- perform circular interpolation in the counter-clockwise direction from the start position.
Origin
Center point
of the circle
Target point
Operation by the circular
interpolation
Radius
Start point
X axis
Y axis
Origin
Target point
Operation by the
circular interpolation
Radius
X axis
Y axis
Center point
of the circle
Start point
Center point, CW Center point, CCW
(3) Setting the target position to be the same as the start position creates a proper circle trajectory for the circular
interpolation, of which the diameter is the distance between the start position and the center point of the circle.
Origin
Operation by the
circular interpolation
Y axis
Center point
of the circle
X axis
Start point = Target point