YASKAWA yasnac i80m - Page 73

NOTE
1
F
R
1.
G17
G02
X
I
J
Where
address
characters
for
the
4th
axis
are
missing
as
in
the
above
command,
the
XY
plane
is
automatically
selected.
interpolation
cannot
be
performed
on
the
axes
including
rotary
4th
axis.
2.
Circular
paths
covering
two
or
more
quadrants
can
be
programmed
in
a
single
block.
A
complete
closed
circle
can
also
be
programmed.
Circular
l
Example
of
Programming
G
till
x
o
Y
n
;
G
02
X
o
Y
o
MO.
Jl)
R
100
:
v
/
C,
ML'
X
I'M.
in.
\
Fig.
2.4.7
One
Circle
3.
Figure
2.4.8
shows motions
when
the
end
point
is
not
on
the
circumfer¬
ence:
If
the
specified
end
point
is
not
rm
the
specified
arc.
the radius
is
gradually
varied
from
the
start
piiim
to
the
end
point,
resulting
in
spiral
interpolation.
1
.
»;
—r,
+
(rt
-
*
ft
Amount
of
correction
of
radius
per
unit
angle
br=(r„-r%
i/6
/
/
/
/
/
t
i;
/
A
2.
(a)
Circular
interpolation
I
-
49
-