Fanuc Series 15i/150i-MA (Programming) Operators Manual B-63324EN/01 PROGRAMING 4.INTERPOLATION FUNCTIONS
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Explanation
- Direction of the circular interpolation
"Clockwise"(G02) and "counterclockwise"(G03) on the XpYp plane
(ZpXp plane or YpZp plane) are defined when the XpYp plane is viewed
in the positive-to-negative direction of the Zp axis (Yp axis or Xp axis,
respectively) in the Cartesian coordinate system. See the figure below.
Fig.4.4 (a) Direction of the circular interpolation
- Distance moved on an arc
The end point of an arc is specified by address Xp, Yp or Zp, and is
expressed as an absolute or incremental value according to G90 or G91.
For the incremental value, the distance of the end point which is viewed
from the start point of the arc is specified.
- Distance from the start point to the center of arc
The arc center is specified by addresses I, J, and K for the Xp, Yp, and Zp
axes, respectively. The numerical value following I, J, or K, however, is
a vector component in which the arc center is seen from the start point,
and is always specified as an incremental value irrespective of G90 and
G91, as shown below.
I, J, and K must be signed according to the direction.
Fig.4.4 (b) Distance from the start point to the center of arc
I0,J0, and K0 can be omitted.
When Xp, Yp , and Zp are omitted (the end point is the same as the start
point) and the center is specified with I, J, and K, a 360deg. arc (circle) is
specified.
G02 I_ ; @Command for a circle
If the difference between the radius at the start point and that at the end
point exceeds the permitted value in a parameter (No.2410), an P/S alarm
(No.191) occurs.
G02
G03
Xp
G17
G18
G19
G02
G03
Zp
G02
G03
Yp
YpZp
Xp
Y
X
End point (x,y)
Center
i
j
Start point
Center
i
Start point
End point (z,x)
Z
k
X
End point (y,z)
Start point
k
j
Y
Z
Center 