Circular Interpolation With Designated Radius: Type 11

At a Glance

This type of interpolation can also be used to link linear segments via a circular trajectory.

You must specify:

The start point (Pn-1)
The end point (Pn)
The radius of the circle
The direction of the trajectory (clockwise or counter-clockwise)

NOTE: Full circular motion is not supported by this type of interpolation. If you wish to travel a full circle, you must use type 10 interpolation.

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 11 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 11 to indicate that the type of interpolation to be used is linear interpolation with circular interpolation connection for which the radius is given.
ParW1 = NpLin	Indicate the number of points in the circle arc 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 segment.
ParW4	Bit 0 at 0 for counter-clockwise trajectory direction. Bit 0 at 1 for clockwise trajectory direction. 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 = R	Radius is the length of the radius of the circle arc.

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
9504	The table contains two consecutive identical points.
9506	Use of circular type interpolation although more than two axes have been defined
9511	The radius is less than half the distance between points Pn-1 and Pn.
9512	Circle impossible
9513	Radius equal to 0
9518	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 (9504 corresponds to 504 etc).