4-9
4-9. Circular interpolation
The robot control point is capable of following circular path.
The circular path will be determined by teaching at least three consecutive circular interpolation points (MOVEC).
Circular
intermediate point
Circular start point
MOVEC
（
Intermediate
）
MOVEC
（
Start
）
Circular
end point
MOVEC
（
End
）
Linear
interpolation
Circular start point
Circular intermediate point
Circular end point
1. Move the robot to the point
you want to start a circular
line. On the
Interpolation
menu, click
Circle
, and then
press the
Enter
key.
2. Then the dialog box to set
teaching point appears.
Check to make sure that
“MOVEC” is set as the
interpolation type, and set
other parameters in the box.
Press the
Enter
key to save
the point as a circular start
point.
1. Move the robot to an
intermediate point of the
circular path you want to
create and press the
Enter
key.
2. Then the dialog box to set
teaching point appears.
Press the
Enter
key if change
of parameters is not
necessary. The point will be
saved as a circular
intermediate point.
1. Move the robot to the point
you want to end the circular
line. Press the
Enter
key.
2. Then the dialog box to set
teaching point appears.
Press the
Enter
key if change
of parameter is not necessary.
* The point will be saved as a
circular end point if the next
teaching point is saved with an
interpolation type other than
circular.
•
Incomplete teaching of circular interpolation
Three consecutive points must be taught and saved as circular points to complete a circular interpolation. If
circular points taught and saved are less than three (consecutive) points, those teaching points will be automatically
switched to linear points.