3 Teaching3.2 Teaching Operation3-7149235-1CDRE-CSO-A031 Circular InterpolationThe manipulator moves in an arc that passes through three points. When circular interpolation is usedfor teaching a robot axis, the move instruction is MOVC.Single Circular ArcWhen a single circular movement is required, teach the circular interpolation for three points, P1 to P3,as shown in the following figure. If joint or linear interpolation is taught at P0, the point before startingthe circular operation, the manipulator moves from P0 to P1 in a straight line.Continuous Circular ArcsWhen continuous circular movement is required, the two arcs must be separated from each other by ajoint or linear interpolation step. This step must be inserted between two steps at an identical point. Thestep at the end point of the preceding circular move must coincide with the beginning point of thefollowing circular move.Play SpeedThe play speed set display is identical to that for the linear interpolation.The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3.If a circular operation is taught at high speed, the actual arc path has a shorter radius than that taught.P2P3 P4P0 P1Automatically becomesa straight line.Interpolation Type for Single Circular ArcInterpolation Type InstructionP0 Joint or Linear MOVJMOVLP1P2P3Circular MOVCP4 Joint or Linear MOVJMOVLP0 P1P7 P8P2P3P4P5P6Joint or linearmotion typeInterpolation Type for Continuous Circular ArcPoint Interpolation Type InstructionP0 Joint or Linear MOVJMOVLP1P2P3Circular MOVCP4 Joint or Linear MOVJMOVLP5P6P7Circular MOVCP8 Joint or Linear MOVJMOVL71 of 493
