Omron NJ501-1300, User Manual

Page: 231 / 432

9-49
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-6 Mu
lti-ax
e
s
Coo
rdin
a
ted
Co
ntr
o
l
9
9-6-3
Circular Inter
polation
Circular interpolation is used to move two of the logical axes A0 to A3 in a circular motion on a 2D
plane. Either absolute or relative positioning is possible. You can specify the circular interpolation mode,
path direction, interpolation velocity, interpolation acceleration, interpolation deceleration, and com-
bined jerk for the two axes.
With the MC Function Module, you can specify the following three kinds of circular interpolation meth-
ods with the input variable
CircMode (Circular Interpolation Mode).
• Border point
• Center
• Radius
Precautions for Correct Use Precautions for Correct Use
Set the Count Mode to Linear Mode for the axis that you use for circular interpolation. If the
instruction is executed with this axis in Rotary Mode, an instruction error will occur.
9-6-3 Circular Interpolation
CW
CCW
CW : Clockwise rotation
CCW : Counterclockwise rotation
Y coordinate
X coordinate