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92
Circular Arc Interpolation
Incremental Positions
When using incremental positions for circular arc interpolation, the incre-
ments for the intermediate or center point are measured from the starting
point and the increments for the end point are measured from the intermedi-
ate or center point.
Starting
point
End point
Intermediate
point
Inc 1
Inc 3
Inc 4
Inc 2
Center
point
The following table presents a short list of hypothetical positioning actions.
For specific field entries, refer to
3-4 Setting Positioning Actions
.
Address
Position
Interpolation Code
Positioning Action Enable
123
P
0
X
10
* 1
1 (Enabled)
124
P
1
X
01
* 2
1 (Enabled)
125
P
2
X
10
* 1
1 (Enabled)
126
P
3
X
01
* 2
1 (Enabled)
Completion code
Address
Position
1
523
P
0
Y
1
524
P
1
Y
0
525
P
2
Y
0
526
P
3
Y
*1: Circular arc intermediate point
*2: Interpolation end point
The figure below shows the resulting operation.
P
2
P
1
P
3
P
0
Starting point
10
01
10
01
Program Example
ISRT from Address 123
Interpolation
Section 6-4