Yamaha SRCD User Manual page 104

CHAPTER2 PROFIBUS Unit
(32) Circular interpolation movement execution ........................ Code 0120
The circular interpolation movement which passes the specified point is executed.
If the point specification number is n, it moves on the circular locus on which the
current position is the start point, the point n is passed, and the point n+1 is the end
point. If the circle is specified, it moves on the circle locus on which the current
position is the start point, the points n and n+1 are passed, and the start point is the
end point.
QWn+22
IWm+22
(Details)
Point number: A point number of 0 to 998 can be specified. If the point variable P
is specified, 4095(=0FFF (hexadecimal)) is registered.
Speed: It can be set at 100 steps of 1 to 100, and when the program execu-
tion speed parameter*
(When the maximum speed setting parameter*
lead length is 20mm.)
Locus specification:
The locus type is selected. 0: Circular segment 1: Circle
(Example)
Transmission example 1:
It moves at the speed 20% on the circular locus where the start
point is the current position, the point 123 is passed, and the point
124 is the end point.
Response example 1:
It is normally ended.
Transmission example 2:
It moves at the speed 5% on the circle locus where the start point is
the current position, P100 and P101 are passed, and the start point
is the end point.
Response example 2:
The software limit over occurs.
Command option
QWn+20 QWn+18
Command response
IWm+20 IWm+18
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
98
QWn+16 QWn+14
Locus specification Speed
IWm+16 IWm+14
1 is 100, 100=1000mm/s is established.
QWn+16 QWn+14 QWn+12
0000 007B 0001
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+16 QWn+14 QWn+12
0001 0005 0064
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Point number
IWm+12
2
is 3000, and the
QWn+10 QWn+8
0000 0120
IWm+10 IWm+8
0000 0200
QWn+10 QWn+8
0000 0120
IWm+10 IWm+8
0000 401E