Circular Interpolation (G02, G03) - YASKAWA MOTIONPACK-110 Descriptive Information

4.2.5 CIRCULAR INTERPOLATION (G02, G03) (Cont'd)
(2) Radius Designation
In programming circular interpolation, the radius of the circular motion path may be
programmed by R, instead of designating the coordinate of the center by I, J or K. This
is called "radius R designation in circular interpolation command".
Note that
When R>0, the segment angle is less than 180 °.
When R<0, the segment angle is greater than 180 °.
NOTE
If the coordinate value of the end point of a circular interpolation motion is
not on the correct circular path due to errors in calculation, etc., corrections
are made as shown in Fig. 4.9.
When the end point is programmed in the hatched areas, alarmstate [No.21: PROG
ERROR (G02/G03) ] occurs.
One complete circle cannot be programmed, so when progamming a complete circle,
it must be divided into two commmands.
G17 GO2X...... Y...... R-- ...... F...... ; The "O" marks represent end commands.
Fig.4.8 Fig.4.9
(3) Complete Circle Designation
A completely closed circle can be programmed in one block.
(Program example)
Y AXIS
G00 X0 Y0 ;
G02 X0 Y0 I1000 J0 F100 ;
I m X AXIS
2000
50
Fig. 4.10