Circular Interpolation With Designated Center: Type 12

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 coordinates of the center of the circle
The direction of the trajectory (clockwise or counter-clockwise)

NOTE: Full circular motion is possible if the start point is the same as the end point.

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 12 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 12 to indicate that the type of interpolation to be used is linear interpolation with circular interpolation connection for which the coordinates of the circle center are indicated.
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 = Xc ParF2 = Yc	Xc is the position of the center of the circle according to the X axis. Yc is the position of the center of the circle according to the Y axis. Note: The TSX CSY 85 module automatically recalculates the exact position of the center. However, if the position indicated differs from the exact position by more than half the length of the circle radius error code 9519 is generated.

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
9506	Use of circular type interpolation although more than two axes have been defined
9512	Circle impossible
9518	The number of points in the circular interpolation segment is set to 0.
9519	The designated center position is outside the tolerance limit permitted by the module.

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 (9506 corresponds to 506 etc).