Circular Interpolation - Omron C200H-MC221 Operation Manual

Circular Interpolation

5-4 Circular Interpolation
Basic Idea
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Positioning for circular interpolation is performed using two axis from a starting
point to an ending point and traveling through a circular arc.
Circular interpolation is achieved by repeating successive linear interpolation
along straight lines drawn by dividing a circular arc (in the shape of a polygon).
An actual locus of circular interpolation is as shown below. The radius of the lo-
cus of actual movements is smaller than the radius of the arc due to accumulated
pulses.
Arc
The interpolation acceleration time, the interpolation deceleration time, and
triangular control are the same as for the linear interpolation.
Note Refer to 5-3 Linear Interpolation for information on the interpolation acceleration
time, interpolation deceleration time, and triangular control.
If positioning for circular interpolation is performed at high speed, the radius of
the locus of actual movements will be reduced.
Locus of actual movements
Center of a circle
Starting point
Intended locus of arc
The higher the speed of positioning
for circular interpolation is, the
smaller the radius of the locus of
actual movements will be.
Section 5-4
End point