Omron SYSMAC CS1G Operation Manual page 551

Program Example
10-1-3 Positioning with Linear and Circular Interpolation
Explanation of the
operation
Program
Explanation of the
program
528
Positioning with the path shown below is performed combining linear and cir-
cular interpolation.
J02
40000
30000
20000
10000
0
10000
01) PROG P003 Q00000003;
02) PASSMODE;
03) MOVEL [J01]20000 [J02]10000 F300000;
04) MOVEC Q-1 [J01]30000 [J02]20000 R10000;
05) MOVEL [J02]30000;
06) MOVEC Q1 [J01]40000 [J02]40000 I0 J10000;
07) END;
01) A program No. and axes to be used are specified.
02) Pass Mode is selected.
03) The axes move to the position [J01]20000, [J02]10000 with linear interpo-
lation.
04) The axes move in CCW direction to the position [J01]30000, [J02]20000
with circular interpolation of radius "10000". (Since a positive value is
specified for radius, the center angle is smaller than 180 degrees (a quar-
ter of the circle).)
05) The axes move to the position [J01]30000, [J02]30000 with linear interpo-
lation.
06) The axes move in CW direction to the position [J01]40000, [J02]40000
with circular interpolation having the position [J01]30000, [J02]40000 as
its center.
07) The program is completed.
20000 30000 40000
Section 10-1
J01