LSIS XGT Series - Page 488

Chapter 8 Motion Control Function
8-97
4. Circular interpolation using radius specification
(1) Circular interpolation is performed by starting at the start point, and reaching the target point in a circular traject
ory of which the diameter is the distance set by the auxiliary point for the circular interpolation. The center point
arc varies depending on the positivity/negativity of radius ((+): arc angle <180°, (-): arc angle>=180°).
Center point
중심점
Arc angle < 180°
Arc angle >= 180°
「CW, Arc<180° 」
Circular interpolation
operation
Start point
Radius
Radius
「CW, Arc>=180°」
Circular interpolation
operation
Y axis
X axis
Origin
Center point
Arc angle < 180°
Radius
Y axis
X axis
Origin
Center point
「CCW, Arc>=180°」
Circular interpolation
operation
Center
point
Arc angle>=180°
「CCW, Arc<180° 」
Circular interpolation
operation
Start point
Radius
Target point
Target point
CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°
(2) In case of designating the diameter, the target position cannot be identical to the start position.
(3) The movement direction and the size of the arc are determined by the signs of the auxiliary point and the
direction set in the absolute position coordinate system circular interpolation operation
(MC_MoveCircularAbsolute2D), the relative position coordinate system circular interpolation operation
(MC_MoveCircularRelative2D), or “PathChoice” of the motion function block.
(4) Limitation
Circular interpolation control by radius specification method cannot be performed in case of the following errors.
• During absolute coordinate circular interpolation, home position has not been determined in one or more of the
component axes (Error Code: 0x20A0)
• The start position is the same as the target position (Error Code: 0x20A5)
• The calculated radius of the arc exceeds 2147483647pls (Error Code: 0x20A6)
• The start position, the auxiliary point, and the target position are on the same straight line (Error Code: 0x20A7)
• One or more of the component axes is performing infinite running repeat operation (Error Code: 0x20A8)