-67-
No. JXC
※
-OMT0002-C
10.5 Circular interpolation
Circular interpolation by specifying the target coordinate (relative) and centre coordinate (relative)
referring to Axis 1 as the X axis and Axis 2 as the Y axis. Clockwise circular interpolation is in CIR-R
mode and counterclockwise is in CIR-L mode. Each axis travels at a speed lower than the composite
speed.
When using circular interpolation the composite speed should be lower than the maximum
speed of the actuator and lower than the maximum speed of the other actuators used.
The pushing operation and circular interpolation of Axis 3 and 4 cannot be used.
Set the target position on the arc composed by the current position and centre coordinate.
When the target position does not exist on the arc composed by the current position and centre
coordinate, the target position is reached using linear movement on the X or Y axes at the end of the
operation (Refer to the Figure below).
Note1) Composite speed varies from approx. 0.7 to 1.1 times more than the composition speed of setting depending on the arc angle.
Axis 1 (X axis)
Axis 2 (Y axis)
Relative target position (X
2
, Y
2
)
Current position(X
1
, Y
1
)
Relative
Centre coordinate
(X
c
, Y
c
)
CIR-R
CIR-L
Composite speed
Note1)
Composite
speed
Note1)
Target position (X
a
, Y
a
)
Rotation
centre
(X
c
,Y
c
)
Start position (0,0)
X axis
Y axis
