Circular Interpolation - YASKAWA DX100 Operator's Manual

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3.2.2.3 Circular Interpolation

3.2 Teaching Operation

The manipulator moves in an arc that passes through three points. When

circular interpolation is used for teaching a robot axis, the move instruction

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.

Table 3-1: Interpolation Type for Single Circular Arc

Automatically becomes

a straight line.

Continuous Circular Arcs

As shown below, when two or more successive circular movements with

different curvatures are required, the movements must be separated from

each other by a joint or linear interpolation step. This step must be

inserted between the steps at an identical point. The step at the end point

of the preceding circular movement must coincide with the beginning point

of the following circular movement.

Table 3-2: Interpolation Type for Continuous Circular Arcs

Point Interpolation

Point Interpolation

Joint or linear

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