Circular Interpolation - YASKAWA NX100 Operator's Manual

149235-1CD
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Circular Interpolation

The manipulator moves in an arc that passes through three points. When circular interpolation is used
for teaching a robot axis, the move instruction is MOVC.
Single Circular Arc
When a single circular movement is required, teach the circular interpolation for three points, P1 to P3,
as shown in the following figure. If joint or linear interpolation is taught at P0, the point before starting
the circular operation, the manipulator moves from P0 to P1 in a straight line.
Automatically becomes
a straight line.
P0 P1
Continuous Circular Arcs
When continuous circular movement is required, the two arcs must be separated from each other by a
joint or linear interpolation step. This step must be inserted between two steps at an identical point. The
step at the end point of the preceding circular move must coincide with the beginning point of the
following circular move.
P2
P0 P1
Play Speed
The play speed set display is identical to that for the linear interpolation.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3.
If a circular operation is taught at high speed, the actual arc path has a shorter radius than that taught.
P2
P3 P4
Interpolation Type for Continuous Circular Arc
Joint or linear
motion type
P7 P8
P3
P4
P5
P6
3-7
Interpolation Type for Single Circular Arc
Interpolation Type
P0 Joint or Linear
P1 Circular
P2
P3
P4 Joint or Linear
Point Interpolation Type
P0 Joint or Linear
P1 Circular
P2
P3
P4 Joint or Linear
P5 Circular
P6
P7
P8 Joint or Linear
3 Teaching
3.2 Teaching Operation
Instruction
MOVJ
MOVL
MOVC
MOVJ
MOVL
Instruction
MOVJ
MOVL
MOVC
MOVJ
MOVL
MOVC
MOVJ
MOVL
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