YASKAWA yasnac i80m Instruction Manual page 73

NOTE
1
F
R
1. G17 G02 X
I
J
Where address characters for the 4th axis
are missing as in the above
command, the
XY
plane is automatically selected.
interpolation
cannot
be
performed on the axes including
rotary
4th axis.
2. Circular
paths covering
two or
more quadrants can be programmed in
a single block. A complete closed circle
can
also be
programmed.
Circular
l
Example of Programming
G
till
x
o
Y
n
;
G 02
X o
Y
o
MO. Jl) R 100
:
v
/
C, ML'
X
I'M.
in.
\
Fig. 2.4.7 One Circle
3. Figure 2.4.8 shows motions when the end
point is
not
on the circumfer¬
ence:
If the specified end point is
not
rm
the specified arc. the radius is
gradually varied from the
start
piiim to the end
point,
resulting in spiral interpolation.
1
.
»;
—r,
+
(rt
-
*
ft
Amount of correction of radius
per
unit angle
br=(r„-r% i/6
/
/
/
/
/
t
i;
/
A
2.
(a)
Circular interpolation
I
-
49
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