LSIS XBF-PN04B, User Manual, Page: 491 / 820

Chapter 9 Functions
9-64
(3) Circular interpolation control whose radius of starting point is different with radius of ending point.
(a) According to set value of target position, distance A which it is distance from start point to center point may
be different with distance B which it is distance from target position to center point (End point, Radius). At this
time, normal circular arc operation is not available.
When starting point radius have a difference with end point radius, the positioning module calculates angular
velocity from the set operation speed, and operates circular interpolation compensating a difference of radius
in proportion to that angular velocity.
(b) In case of starting point radius has some difference with ending point radius, compensating speed is as
follows:
▪ Radius of starting point > Radius of ending point: The more near from target position, the slower.
▪ Radius of starting point < Radius of ending point: The more near from target position, the faster.
Remark
In case of “Starting point radius < Ending point radius”, the closer to target position the object gets, the faster
speed is. Sometimes it exceeds
「
Speed limit
」
of parameter. When operating circular interpolation, in case
starting point radius is shorter than ending point radius, XBF-PN04B/PN08B lowers speed not to exceed
「
Speed
limit
」
.
With that method, even if it gets closer to target position, it can‟t exceed the
「
Speed limit
」
.
Forward of
sub axis
Target
position
Reverse of
main axis
Reverse o f
sub axis
Forward of
main axis
Starting position
0
Starting point
radius
> Ending point
radius
Target
position
Reverse of
main axis
Starting position
0
Starting point
radius
= Ending point
radius
Starting point
radius
= Ending point
radius
Starting point
radius
< Ending point
radius
Center point Center point
Compensation
speed
Time
Setting speed
Time
Starting point radius > Ending point radius
Midpoint starting point radius < Ending point radius
Speed will be slow.
Speed will be fast
Forward of
sub axis
Reverse o f
sub axis
Forward of
main axis
Compensation
speed
Setting speed
Compensation speed
Time
Setting
speed
Speed be faster
Speed limit
Exceed speed limit
Compensation speed
Time
Lower setting speed
Not exceed
speed limit
Speed limit
Setting
speed