User`s manual

5.0 - Motion Programs
Page - 51
Start
(
0,0
)
Center
(
10,0
)
End
(
20,0
)
7) PMAC's convention is to take the short arc path if the R value is positive, and the long arc path if R is negative:
- If the value of R is positive, the arc to the move endpoint is the short route (<=180 degrees)
- If the value of R is negative, the arc to the move endpoint is the long route (>=180 degrees)
8) When performing a circular interpolation, the individual axes describe a position Vs time profile close to a sine and
cosine shape. This is also true for their velocity and acceleration profiles. Therefore, circular interpolation makes an
ideal feature to described trigonometric profiles. Further, the period (and so frequency) of the sine or cosine waves
could be set by the total move time given by TA+TM.
close
delete gather
undefine all
&1
#2->2000Y ;X is phantom
open prog1 clear
inc
inc (r)
ta300
ts0
tm1000 ;TA+TM is period
i13=10
normal k-1 ;X-Y plane
circle1 ;clockwise
x0 y0 i10 ;complete circle
close
&1b1r
Example:
I13=10 ;Move Segmentation Time
NORMAL K-1 ;XY plane
INC ;Incremental End Point definition
INC (R) ;Incremental Center Vector definition
CIRCLE 1 ;Clockwise circle
X20 Y0 I10 J0 ;Arc move
Example 1
circle 2
X20 Y10 R10
Starting point (10,0)
Example 2
circle 1
X20 Y10
R
-10
End point (20,10)
Example 3
circle 2
X20 Y10
R
-10
Example 4
circle 1
X20 Y10 R10
R=10
R=10