Circular Paths; Circular Path In A Main Plane With Radius, End Point, And Orientation - Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.5 Path interpolation types
2.5.4

Circular paths

2.5.4.1 Circular paths
For a circular path, approach is made from the current position to a specified end point
following an arc.
Circular paths are traversed with the _movePathCircular() command.
The arc can be specified using several modes. The circularType parameter specifies the
mode to be used.
● Circular interpolation in a main plane with radius, end point, and orientation (Page 22)
● Circular interpolation in a main plane with center point and angle (Page 23)
● Circular interpolation with intermediate and end points (Page 25)
If a circular path is not traversed because of the geometry, the 50002 error will be issued.
2.5.4.2

Circular path in a main plane with radius, end point, and orientation

Figure 2-9
To perform circular interpolation in a main plane with specification of radius, end point, and
orientation, you set circularType:=WITH_RADIUS_AND_ENDPOSITION in the
_movePathCircular() command.
The end point is approached on a circular path starting from the current position. The current
position and the end point lie in the same main plane. Circle radius, orientation (travel in the
positive or negative direction of rotation), and travel on large or small arcs are specified in
the command.
The end point position is entered in the x, y, and z parameters.
22
Circular path with radius, end point, and orientation
TO Path Interpolation
Function Manual, 11/2010