Mitsubishi Electric Q172CPU, Руководство по программированию

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7 MOTION PROGRAMS FOR POSITIONING CONTROL
7.13.5 G02 Circular interpolation CW (Radius-specified)
Code G02
Function
Circular interpolation (CW)
Radius-specified circular
interpolation
The axes travel from the current position (start point) to the specified
coordinate position (end point) with a circular arc of the specified radius
(CW).
The travel speed is the specified feed rate.
Format
0
Feed rate
Feed rate command
2 X x G Y y R r
Circular arc radius
End point X, Y coordinates
; F f
[Explanation]
(1) A circular arc of more than 180° is drawn at a negative circular arc radius (R)
value, or a circular arc of 180° or less is drawn at a positive R value.
Always use an incremental value to command the R value.
Radius value Positive
Start point
Radius value Negative
End point
An error will occur if "the distance between start and end points" - radius 2 >
"circular arc error".
(2) If a complete round command (the start point is the same as the end point) is
specified in R-specified circular interpolation, an error (error code : 108) will occur
and no operation is performed. Therefore, specify the circular arc central
coordinates-specified for the complete round command.
(3) When this command is executed continuously, the acceleration or deceleration is
not made at the start or end point of a block because the status is not the exact
stop check mode.
(4) When the circular arc central coordinates and radius are specified simultaneously
for G02 (CW), the radius-specified circular interpolation has priority.
(5) The positioning data can be set by direct setting (numerical value) or indirect
setting (variable : # ).