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112
8-3-5 Circular Arc Interpolation (Intermediate Point Designated)
The following program positions a circle counter-clockwise with point C
[10,000, 10,000 (pulses)] as the intermediate point starting from the origin
[0,0 (pulses)] at 2 kpps. With intermediate point D [0, 10,000 (pulses)] inter-
polation proceeds to point C at 2 kpps. Without stopping, interpolation com-
pletes at the origin via intermediate point A [10,000, 0 (pulses)]. At the origin,
bit j+2 (15) turns ON to indicate completed positioning. For circular arc inter-
polation with a designated intermediate point, the entire circumference of a
circle cannot be produced because the center cannot be computed. Again,
acceleration and deceleration times are not used.
Y axis (pulse)
X axis (pulse)
C (10,000, 10,000)
Time (s)
2 kpps
X and Y
axes
0 Origin
Origin
0 (origin)
D (0,
10,000)
A (10,000, 0)
DIFU(13) j+4(01)
WRIT(87)
#0002
DM m+10
n
READ(88)
#0017
n+1
l
l+7
CMP(20)
#0030
( = )
( = )
j+4(00)
l+4(07)
Start input
Origin
j+4(01)
j+4(03)
l(15)
Command
Ready
j+4(02)
25506
25506
j+2
(15)
j+4
(02)
j+4
(03)
Normally ON
Positioning
Completed
l+3(08)
25313
Ladder Diagram
Speed (pps)
Basic Program Examples
Section 8-3