Omron Sysmac NY-series Instruction & Reference Manual page 603

MoveMode
Absolute positioning
Relative positioning
The difference between Absolute positioning and Relative positioning using a border point is de-
scribed below as an example.
Circular Interpolation Method: Border Point Specification
Y
The following sections describe the operation assuming that Absolute positioning has been specified
as the MoveMode (Travel Mode).
Border point
The current position is the starting point. Circular interpolation is performed through the border point
AuxPoint(X,Y) to the end point EndPoint(X,Y).
Y
AuxPoint(X, Y)
Start point
If the start point, border point, and end point are along the same line, if the border point and the end
point are at the same point, or if the start point and the border point are the same point, linear interpo-
lation is performed from the start point to the end point.
NY-series Motion Control Instructions Reference Manual (W561)
The border point and end point for a border point specification or the center point and
end point for a center point specification are specified as absolute positions from home
in the axis coordinate system.
The border point and end point for a border point specification or the center point and
end point for a center point specification are specified as relative positions from the
start point.
with Absolute Positioning
AuxPoint(X, Y)
EndPoint(X, Y)
Start point
X
EndPoint(X, Y)
X
4 Axes Group Instructions
Description
Circular Interpolation Method: Border Point Specification
with Relative Positioning
Y
AuxPoint(X, Y)
EndPoint(X, Y)
Start point
4
X
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