13. Program Support Functions
13.24 Tool Center Point Control; G43.4/G43.5
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Interpolation mode
There are two modes of interpolation: single axis rotation interpolation and joint interpolation. You
can select one of them by parameter.
(1) Single axis rotation interpolation
When transforming from a start-point angle
vector "r1" into an end-point angle vector
"r2", interpolate so that the angular rate of
the rotary ø around the vector k axis, which
is vertical to r1-r2 plane, will be constant.
(a) Features
•
Tool angle vector always exists on the
plane consisting of O, r1 and r2.
•
The angular rates of each rotary axis will
not be constant.
Z(-)
Z' (-)
Y(-)
Y'(-)
φ
Unit vector vertical
to r1-r2 plane
O
Start-point
command
vector "r1"
End-point
command
vector "r2"
(b) Operations
(Example) Current position Aa° C0°
When commanding G90 Yy A-a. C45. ; or G90 Yy Ii Jj Kk ;
<Tool tilt type>
Y(-)
Z(-)
ø
<Table tilt type>
Y(+)
Z(+)
Z(+)
ø
Z"(+)
Z'(+)
Y"(+
Y(+)
Y'(+)
<Combined type>
Y(+)
Z(+)
Y(+)
Z(+)
Z(+)
Z(+)
Y (+)
ø
(2) Joint interpolation
A movement from a start-point angle vector
"r1" to an end-point angle vector "r2" is
interpolated to keep the angular rates of
each axis constant.
(a) Features
•
The angular rates of each rotary axis
become constant.
•
As this control aims to keep the angular
rates of each rotary axis constant, a tool
angle vector may not exist on the plane
consisting of O, r1 and r2.
Y(-)
ø
Start-point
command
vector "r1".
C(+)
A(+)
Z(-)
O
End-point
command
vector "r2".