Linear Interpolation With Circular Interpolation Connection: Type 10

At a Glance

This type of interpolation can be used to link linear segments via a circular trajectory (arcs of circles or full circles).

NOTE: This type of interpolation is only possible if the movement is along one plane (2 axes only).

Illustration

The diagram below illustrates an example of a type 10 segment:

Block Parameters

The table below indicates the parameters to be entered in the trajectory table for this type of segment:

Parameter	Description
ParW0	Enter 10 to indicate that the type of interpolation to be used is linear interpolation with circular interpolation connection.
ParW1 = NpLin	Indicate the number of points in the linear part of the segment in this parameter. This number of points (minimum 1) represents the number of intermediate points that the module has to calculate in order to define the trajectory on this linear part.
ParW2 = NpRacc	Indicate the number of points in the circular interpolation part in this parameter. This number of points (minimum 1) represents the number of intermediate points that the module has to calculate in order to define the trajectory on this part. It should be enough to ensure precision of the trajectory, and a minimum value of 15 is recommended.
ParW4	Bit 0 at 0 for a connection making an angle less than 180°. Bit 0 at 1 for a connection making an angle more than 180°. If a third tangent type axis is being used, select tangent mode (bit 8 of ParW4 at 1) to indicate that the motion of the third axis will follow the curve using tangent mode (positioning a tool for example so that it is always at right-angles to the curve and follows its tangent). Note: Tangent mode (bit 8 at 1) will be available in a later version of the TjE/TSX CSY 85 combination, but for the moment only angular positioning of the third Z axis is supported.
ParF1 = lracc	lracc is the length of the circular interpolation segment.

Error Codes

When this type of segment is used, the error codes that can be returned in word %MWr.m.c.3 are as follows:

Code	Description
9501	The length lracc equals zero (illegal scenario).
9504	The table contains two consecutive identical points.
9506	Use of circular type interpolation although more than two axes have been defined
9508	Circular connection with angle of 180°
9509	Circular connection with angle of 0°
9514	Link too long: Next segment = 0
9515	The number of points in the linear segment is set to 0.
9517	The number of points in the circular interpolation segment is set to 0.

NOTE: The error codes indicated are those for the TSX CSY 85 module. The error codes for TjE are the same but without the 9 (9501 corresponds to 501 etc).

Example Trajectory

The diagram below illustrates an example of a trajectory using type 10 and type 1 segments. Point 1 provides an example of circular motion with parameter ParW4 =. Note that in this case, the speed is not constant:

Example of Full Circular Trajectory

The diagram below illustrates an example of a circular trajectory for which the corners of the circumscribed square have been defined with circular segments measuring half of the side of this square in length: