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Sample program
Continuous interpolation control (linear and circular)
• Using linear and circular interpolation functions, perform positioning control that draws trajectory like
the one shown below.
• The interval between the first postion P1 and P2 and the interval between P3 and P4 perform control
using linear interpolation.
• The interval between P2 and P3 performs circular interpolation control using center designation.
• The interval between P4 and P1 performs circular interpolation control using passing position
designation.
I/O Allocation
I/O No. Description I/O No. Description
XB Positioning start R9010 Always ON
XC Emergency stop switch R903A Control flag (CH0)
R20 From P1 to P2 start R903C Control flag (CH2)
R21 From P2 to P3 start R904E Circular interpolation control flag
R22 From P3 to P4 start
R23 From P4 to P1 start
R2F Positioning done
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