G02: Circular Interpolation Cw (R-Specified) - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

G02: Circular interpolation CW (R-specified)

Moves along an arc (CW) with a specified radius, to the specified coordinate position (end point) from the current position
(start point).
The moving speed is the commanded feed speed.
Code Format
G02
G02 X x
Processing details
• The arc center lies on the perpendicular bisector of the straight line that joins the start point and end point. The center
coordinates of the arc are where the arc with the specified radius and the start point as the center intersects with the
perpendicular bisector.
• When the arc radius (R) value is positive, the arc is 180 or less, when negative, the arc is 180 or more.
<When radius is positive (R>0)>
Arc
End point
L
Arc center
r
Start point
• For R-specified circular interpolation commands, make sure the formula below is satisfied. When "Straight line joining start
and end points (L)/2Arc radius (r)>Arc deviation (parameter value)", a minor error (error code: 1FC3H (details code:
0313H)) occurs.
Straight line joining start and end points (L)
2 × Arc radius (r)
• When an arc is not formed due to miscalculation, if the deviation of "straight line joining start and end points (L)" and "2 arc
radius (r)" are less than or equal to the set values, compensation is performed so that the arc center becomes the mid point
of the straight line joining the start and end points.
Set the arc deviation value in [Motion Control Parameter][G-code Control Parameter][G-code Control System
Parameter]"Control Setting""Permissible Compensation Value of Arc Center Deviation".
Permissible compensation value of arc center deviation setting value
Setting value<0
Setting value=0
Setting value>0
Y
N1,N3
N5
0 10
(a) "Compensate center coordinates"=passes over the same trajectory as N1.
(b) "No compensation on center coordinates"=passes over a trajectory slightly inside N1.
Permissible compensation value of arc center deviation: 0.0002mm
Line from start point to end point
• N3: Radius×2=10.0002 "Deviation 0.0002 → below or equal to permissible value, therefore compensate"
• N5: Radius×2=10.0004 "Deviation 0.0004 → exceeding permissible value, therefore do not compensate"
Y y R r F f
Feed speed
Arc radius
Coordinate command
<When radius is negative (R<0)>
r
Start point
≤ 1
G90 X0. Y0.
N1 G02 X10. R5.0000
N2 G00 X0.
N3 G02 X10. R5.0001 • • • • • (a)
N4 G00 X0.
N5 G02 X10. R5.0002 • • • • • (b)
N6 G00 X0.
M02
X
: 10.0000
Arc
Arc center
End point
L
Permissible compensation value of arc center deviation
0 (No compensation of center deviation)
2Minimum setting unit (0.0001)
Set value
5 G-CODE CONTROL PROGRAMS
5
109
5.6 G-Code