4-10
4-9-1. What is circular interpolation
The robot calculates a circle from three teaching points and moves on the circular pattern.
If there are more than one circular intermediate points, the circular pattern of the current point to the next point will be
determined from the current point and two consecutive circular teaching points ahead. As for the circular point before the
circular end point, the three consecutive points to determine the circular pattern will be the previous circular teaching point,
the current point and the circular end point.
Circular
end point
Circular
start point
a
b
c
d
e
Use
points
a
,
b
and
c
to calculate
interpolation
Linear
interpolation
Use
points
b
,
c
and
d
to calculate
interpolation
Use
points
c
,
d
and
e
to calculate
interpolation
Use
points
c
,
d
and
e
to
calculate interpolation
< Supplement >
1. Linear interpolation is applied to the circular start point.
2. To create a locus of a combination of more than one circular pattern, save a Linear interpolation point or PTP
interpolation point on the shared teaching point of two circular patterns before saving the circular start point of the
next circular pattern to separate patterns.
MOVEC
MOVEL/MOVEP
MOVEC
MOVEC
MOVEC
MOVEC
MOVEC
3. As for a circular pattern created by three circular interpolation points, if two points are positioned close to each
other, the slight change of the position of either one of those points creates a significant change in the locus.