Circular Interpolation - Omron CS1W-MC221 - 02-2008 Operation Manual

Circular Interpolation

Note
Triangular Control
6-4 Circular Interpolation
Overview
Basic Concept
1. The interpolation acceleration time and the interpolation deceleration time
use the acceleration and deceleration times set in the system parameters
or the times that are changed in the G-language program. (The times can
be changed by G69.)
2. The maximum interpolation feed rate uses the value set in the system pa-
rameters.
When the mode is set to the Stop Mode and if the travel time is shorter than
the sum of the interpolation acceleration time and the deceleration time, trian-
gular control will be performed, just as it is for PTP control.
When the mode is set to the Pass Mode, the travel time will not become
shorter than the preset interpolation acceleration and deceleration times, but
the speed will become slower than the designated feed rate.
Y-axis movements
X-axis movements
The ratio between the interpolation acceleration time and the deceleration
time for triangular control is equal to the ratio between the preset interpolation
acceleration time (Ta) and the deceleration time (Td). Td'/Ta'=Td/Ta
Mode: Automatic; Method: G language (G02, G03)
Positioning for circular interpolation is performed using two axes from a start-
ing point to an ending point and traveling through a circular arc. For details on
using circular interpolation with the G language, refer to 7-3-3 G02 and G03:
CIRCULAR INTERPOLATION.
Circular interpolation is achieved by repeating successive linear interpolation
along straight lines drawn by dividing a circular arc (in the shape of a poly-
gon). The actual locus of circular interpolation is as shown below. The radius
Section 6-4
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