LSIS XGT Series User manual

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Programmable Logic Controller
Motion Control Module
User’s Manual
 Read this manual carefully before
installing,
wiring, operating, servicing
or inspecting this equipment.

Keep this manual within easy reach
for quick reference.
XGT Series
http://www.lsis.com
XGF-M32E

Safety Instruction
Before using the product …
For your safety and effective operation, please read the safety instructions thoroughly before using the product.
►Safety Instructions should always be observed in order to prevent accident or risk with the safe and
proper use the product.
►Instructions are divided into “Warning”and “Caution”, and the meaning of the terms is as follows.
This symbol indicates the possibility of serious injury or death if some applicable
instruction is violated
This symbol indicates the possibility of severe or slight injury, and property
damages if some applicable instruction is violated
Moreover, even classified events under its caution category may develop into serious accidents relying on
situations. Therefore we strongly advise users toobserve all precautions properly just like warnings.
►The marks displayed on the product and in the user’s manual have the following meanings.
Be careful! Danger may be expected.
Be careful! Electric shock may occur.
►The user’s manual even after read shall be kept available and accessible to
any user of the product.
Warning
Caution

Safety Instruction
Safety Instructions for design process
Please install a protection circuit on the exterior of PLC so that the whole system may
operate safely regardless of failures from external power or PLC. Any abnormal output or
operation from PLC may cause serious problems to safety in whole system.
- Install protection units on the exterior of PLC like an interlock circuit that deals with opposite
operations such as emergency stop, protection circuit, and forward/reverse rotation or install an
interlock circuit that deals with high/low limit under its position controls.
- If any system error (watch-dog timer error, module installation error, etc.) is detected during
CPU operation in PLC, all output signals are designed to be turned off and stopped for safety.
However, there are cases when output signals remain active due to device failures in Relay and
TR which can’t be detected. Thus, you are recommended to install an addition circuit to monitor
the output status for those critical outputs which may cause significant problems.
Never overload more than rated current of output module nor allow to have a short circuit.
Over current for a long period time may cause a fire .
Never let the external power of the output circuit to be on earlier than PLC power, which may
cause accidents from abnormal output operation.
Please install interlock circuits in the sequence program for safe operations in the system
when exchange data with PLC or modify operation modes using a computer or other
external equipments
Read specific instructions thoroughly when conducting control operations
with PLC.
Warning

Safety Instruction
Safety Instructions for design process
Safety Instructions on installation process
I/O signal or communication line shall be wired at least 100mm away from a high-voltage
cable or power line.Fail to follow this
Caution
Use PLC only in the environment specified in PLC manual or general standard of data
sheet. If not, electric shock, fire, abnormal operation of the product may be caused.
Before install or remove the module, be sure PLC power is off. If not, electric shock or damage
on the product may be caused.
Be sure that every module is securely attached after adding a module or an extension
connector.If the product is installed loosely or incorrectly, abnormal operation, error or dropping
may be caused. In ad
dition, contact failures under poor cable installation will be causing
malfunctions as well.
Be sure that screws get tighten securely under vibrating environments. Fail to do so will put
the product under direct vibrations which will cause electric shock, fire and abnormal operation.
Do not come in contact with conducting parts in each module, which may cause electric
shock, malfunctions or abnormal operation.
Caution

Safety Instruction
Safety Instructions for wiring process
Prior to wiring works, make sure that every power is turned off. If not, electric shock or
damage on the product may be caused.
After wiring process is done, make sure that terminal covers are installed properlybefore
its use.Fail to install the cover may cause electric shocks.
Warning
Check rated voltages and terminal arrangements in each product prior to its wiring
process.Applying incorrect voltages other than rated voltages and misarrangement among
terminals may cause fire or malfunctions.
Secure terminal screws tightly applying with specified torque.If the screws get loose, short
circuit, fire or abnormal operation may be caused.
Securing screws too tightly will cause
damages to the module or malfunctions, short circuit, and dropping.
Be sure to earth to the ground using Class 3 wires for FG terminals which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation or electric shock
may be caused.
Don’t let any foreign materials such as wiring waste inside the module while wiring,
which may causefire, damage on the product orabnormal operation.
Make sure that pressed terminals get tighten following the specified torque. External
connector type shall be pressed or soldered using proper equipments.
Caution

Safety Instruction
Safety Instructions for test-operation and maintenance
Don’t touch the terminal when powered. Electric shock or abnormal operation may occur.
Prior to cleaning or tightening the terminal screws, let all the external power off including
PLC power. If not,electric shock or abnormal operation may occur.
Don’t let the battery recharged, disassembled, heated, short or soldered. Heat, explosion
or ignition may cause injuries or fire.
Warning
Do not make modifications or disassemble each module.Fire, electric shock or abnormal
operation may occur.
Prior to installing or disassembling the module, let all the external power off including
PLC power. If not,electric shock or abnormal operation may occur.
Keep any wireless equipment such as walkie-talkie or cell phones at least 30cm away
from PLC. If not, abnormal operation maybe caused.
When making a modification on programs or using run to modify functions under PLC
operations, read and comprehend all contents in the manual fully. Mismanagement will
cause damages to products and accidents.
Avoid any physical impact to the battery and prevent it from dropping as well. Damages
to battery may cause leakage from its fluid. When battery was dropped or exposed under strong
impact, never reuse the ba
ttery again. Moreover skilled workers are needed when exchanging
batteries.
Caution

Safety Instruction
Safety Instructions for waste disposal
Product or battery waste shall be processed as industrial waste. The waste may discharge
toxic materials or explode itself.
Caution

Revision History
Revision History
Version Date Remark Revised position
V 1.0 ’13.9 First Edition -
※The number of User’s manual is indicated right part of the back cover.
ⓒLSIS Co., Ltd 2013 All Rights Reserved.

About User’s Manual
1
Thank you for purchasing PLC of LSIS Co., Ltd.
Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and
programming of the product you purchased in order for correct use and importantly, let the end user and maintenance
administrator to be provided with the User’s Manual.
The User’s Manual describes the product. If necessary, you may refer to the following description and order accordingly. In
addition, you may connect our website (http://eng.lsis.biz/) and download the information as a PDF file.
Relevant User’s Manuals
Title Description
XG5000 User’s Manual
(for XGK, XGB)
XG5000 software user manual describing online function such as
programming, print, monitoring, debugging by using XGK, XGB
CPU
XG5000 User’s Manual
(for XGI, XGR)
XG5000 software user manual describing online function such
as programming, print, monitoring, debugging by using XGI,
XGRCPU
XGK/XGB Instructions & Programming
User’s Manual
User’s manual for programming to explain how to use
instructions that are used PLC system with XGK, XGB CPU.
XGI/XGR/XEC Instructions & Programming
User’s Manual
User’s manual for programming to explain how to use
instructions that are used PLC system with XGI, XGR,XEC CPU.
XGK CPU User’s Manual
(XGK-CPUA/CPUE/CPUH/CPUS/CPUU)
XGK-CPUA/CPUE/CPUH/CPUS/CPUU user manual describing
about XGK CPU module, power module, base, IO module,
specification of extension cable and system configuration, EMC
standard
XGI CPU User’s Manual
(XGI-CPUU/CPUH/CPUS)
XGI-CPUU/CPUH/CPUS user manual describing about XGI
CPU module, power module, base, IO module, specification of
extension cable and system configuration, EMC standard
XGR redundant series User’s
Manual
XGR-CPUH/F, CPUH/T user manual describing about XGR
CPU module, power module, extension drive, base, IO module,
specification of extension cable and system configuration, EMC
standard
XG-PM User’s Manual
XG-PM software user manual describing online function such as
motion programing, monitoring, debugging by using Motion
Control Module
Current XGF-M32E manual is written based on the following version.
Related OS version list
Product name OS version
XGK-CPUH, CPUS, CPUA, CPUE, CPUU V4.1
XGI-CPUU, CPUH, CPUS V3.7
XGR-CPUH/F, CPUH/T V2.5
XG5000(XG-PM) V3.67

Table of Contents
1
◎Table of Contents ◎
Chapter 1 Overview…………………………...............................………………...........……………………… 1-1 ~ 1-10
1.1 Characteristics...........................................................................................................................................1 - 1
1.2 Signal Flow of Positioning Module ...........................................................................................................1 - 3
1.3 Function Overview of Motion Control module............................................................................................1 - 4
1.3.1 Positioning Control...........................................................................................................................1 - 4
1.3.2 Interpolation Control ........................................................................................................................1 - 5
1.3.3 Speed Control................................................................................................................................1 - 10
Chapter 2 Specification………………………….............................................………………………………. 2-1 ~ 2-9
2.1 General Specification.................................................................................................................................2 - 1
2.2 Performance Specifications.......................................................................................................................2 - 2
2.2.1 Function Specifications .................................................................................................................2 – 2
2.2.2 Communication specifications.........................................................................................................2 - 3
2.2.3 Internal input/output specifications ..................................................................................................2 - 4
2.2.4 Encoder Input Specifications .........................................................................................................2 - 5
2.3 The Name of Each Part ...........................................................................................................................2 - 6
2.3.1 The Name of Each Part .................................................................................................................2 - 5
2.3.2 Specification of interface with external device................................................................................2 - 7
Chapter 3 Operation Order and Installation……………........................................................……………… 3-1 ~ 3-8
3.1 Operation Order.........................................................................................................................................3 - 1
3.2 Installation..................................................................................................................................................3 - 2
3.2.1 Installation Environment ................................................................................................................ 3 - 2
3.2.2 Notice in Handling ..........................................................................................................................3 - 2
3.3 Notice in Wiring ...................................................................................................................................... 3 - 3
3.3.1 Notice in Wiring ..........................................................................................................................3 - 3
3.3.2 Connection Example of Servo and Stepping Motor Drive Machine.................................................3 - 4
3.3.3 Encoder Input (DC 5V Voltage Output) Wiring Example............................................................... 3 - 7
3.3.4 Encoder Input (DC 5V Line Driver Output) Wiring Example ..........................................................3 - 8
Chapter 4 Motion Control Operation ……...……………........................................................……………… 4-1 ~ 4-12
4.1 Structure of Motion Control Module........................................................................................................ 4 - 1
4.2 Configuration of Motion Control.............................................................................................................. 4 - 2
4.3 Motion Control Task..................................................................................................................................4 - 3
4.3.1 Types of Tasks ..............................................................................................................................4 - 3
4.3.2 Task motion.....................................................................................................................................4 - 4
4.3.3 Execution of Motion Commands.....................................................................................................4 - 6
4.4 EtherCAT Communication ......................................................................................................................4 - 7
4.4.1 What is EtherCAT ...........................................................................................................................4 - 7

Table of Contents
2
4.4.2 COE(CANopen over EtherCAT)......................................................................................................4 - 7
4.4.3 EtherCAT State Machine.................................................................................................................4 - 8
4.4.4 EtherCAT Process Data Objective(PDO)........................................................................................4 - 9
4.4.5 Specification of Motion Control Module EtherCAT Communication..............................................4 - 10
4.5 Motion Control Program......................................................................................................................... 4 - 10
4.5.1 Program Execution ......................................................................................................................4 - 10
4.5.2 Operation Modes...........................................................................................................................4 - 10
Chapter 5 Memory and Parameter, I/O Signal …………................................................…………………… 5-1 ~ 5-39
5.1 Memory....................................................................................................................................................5 - 1
5.1.1 Flag ................................................................................................................................................5 - 1
5.1.2 Device ............................................................................................................................................5 - 8
5.1.3 Parameter......................................................................................................................................5 - 14
5.2 I/O Signal .............................................................................................................................................5 - 37
5.2.1 Contents of I/O Signal ...................................................................................................................5 - 37
5.2.2 Use of I/O Signal ...........................................................................................................................5 - 39
Chapter 6 Function Blocks…..……………………………................................................…………………… 6-1 ~ 6-79
6.1 Common Elements of Motion Function Blocks...................................................................................... 6 - 1
6.1.1 The State of axis............................................................................................................................ 6 - 1
6.1.2 The state of Group......................................................................................................................... 6 - 3
6.1.3 Basic I/O Variable.......................................................................................................................... 6 - 3
6.1.4 BufferMode Input........................................................................................................................... 6 - 6
6.1.5 Changes in Parameters during Execution of Motion Function Block ............................................ 6 - 6
6.1.6 Group Operation Route Change Settings...................................................................................... 6 - 7
6.1.7 Motion Function Block Errors ........................................................................................................ 6 - 9
6.2 Motion Function Block ..........................................................................................................................6 - 10
6.3 Single-Axis Motion Function Blocks .....................................................................................................6 - 12
6.4 Multi-Axis Motion Function Blocks .......................................................................................................6 - 40
6.5 Group Motion Function Blocks .............................................................................................................6 - 51
6.6 Exclusive Function Blocks ...................................................................................................................6 - 71
Chapter 7 Program……………………………….................................................………………………..…… 7-1 ~ 7-34
7.1 Structure of the Program ....................................................................................................................... 7 - 1
7.2 Status Information Reading.....................................................................................................................7 - 2
7.3 Discrete Motion Program .......................................................................................................................7 - 3
7.3.1 Preparation for operation............................................................................................................... 7 - 3
7.3.2 Homing operation.......................................................................................................................... 7 - 4
7.3.3 Absolute Position/Relative Position Operation.............................................................................. 7 - 6
7.3.4 Speed/Torque Control Operation.................................................................................................. 7 - 9
7.3.5 Axis Stop...................................................................................................................................... 7 -12
7.3.6 Error Processing .......................................................................................................................... 7 -14
7.3.7 Change in Operation.................................................................................................................... 7 -16
7.3.8 Parameter Write/Read ................................................................................................................. 7 -18

Table of Contents
3
7.4 Multi-Axis Operation Program ...............................................................................................................7 - 23
7.4.1 Linear Interpolation Operation..................................................................................................... 7 - 23
7.4.2 Circular Interpolation Operation .................................................................................................. 7 - 25
7.4.3 Synchronous Operation............................................................................................................... 7 - 27
7.4.4 CAM Operation............................................................................................................................ 7 - 30
7.4.5 Axis Group Processing................................................................................................................ 7 - 31
7.5 I/O Processing Program ........................................................................................................................7 - 34
7.5.1 Input Signal Processing............................................................................................................... 7 - 34
7.5.2 Output Signal Processing............................................................................................................ 7 - 34
Chapter 8 Functions…………………………………………………......................................………………… 8-1 ~ 8-61
8.1 Origin Determination................................................................................................................................8 - 1
8.1.1 Origin Determination........................................................................................................................8 - 1
8.1.2 Homing............................................................................................................................................8 - 2
8.2 Type of Control Operation ......................................................................................................................8 - 8
8.2.1 Single-axis Position Control.............................................................................................................8 - 9
8.2.2 Single-axis Speed Control.............................................................................................................8 - 14
8.2.3 Single-axis Torque Control............................................................................................................8 - 16
8.2.4 Specified Velocity Operation after Position Operation ..................................................................8 - 18
8.2.5 Switching Control ..........................................................................................................................8 - 20
8.2.6 Axis Group Control........................................................................................................................8 - 23
8.2.7 Linear Interpolation Control .........................................................................................................8 - 25
8.2.8 Circular Interpolation Control.........................................................................................................8 - 30
8.2.9 Axis Control Buffer Mode..............................................................................................................8 - 39
8.2.10 Axis Group Control Buffer Mode and Transition Mode ...............................................................8 - 42
8.2.11 Synchronous Control...................................................................................................................8 - 44
8.2.12 Manual Control............................................................................................................................8 - 47
8.3 Other Functions ...................................................................................................................................8 - 49
8.3.1 Functions to Change Control.........................................................................................................8 - 49
8.3.2 Auxiliary Function of Control .........................................................................................................8 - 56
8.3.3 Data Management Function..........................................................................................................8 - 62
Appendix 1 Error Information & Solutions ……………................................................………………… A1-1~ A1-24
Appendix 2 Setting Example……………………………………………………………………...................A2-1~ A2-21
Appendix 3 Dimension ……………………………………………………………………............................A3-1

Chapter 1 Overview
1-1
Chapter 1 Overview
This user’s manual describes the standard of Motion Control module, installation method, the method to use each
function, programming and the wiring with external equipment.
1.1 Characteristics
The characteristics of Motion Control module are as follows.
(1) The Motion Control module is available for XGK/I/R Series.
(2) Various Motion Control function
It has various functions needed for motion control system such as position control, speed control etc.
(a) It supports various motion control commands.
1) It supports a number of function blocks.
2) It supports a number of motion function blocks compliant to PLCopen standards.
3) Motion programs are supported in the form of LD or ST by using XG-PM.
(b) It can control actual axis of up to 32 axes, virtual axis of 4 axes and VO (up to 256 points) of four
units, and supports I/O of input 8 points and output 8 points and encoder input of two channels.
(c) Various sing-axis operations are available.
1) Position control
2) Speed control
3) Synchronous control
4) Multi-axis simultaneous start
(d) Various multi-axis group operations are available.
1) Circular arc interpolation
2) Linear interpolation
3) Helical interpolation
4) Group homing / Changes group position
(e) Switching control in operation is available.
1) Position/Speed control switching
2) Position/Torque control switching
3) Speed/Torque control switching
(f) Cam Control is available.
It is available to create up to 32 kinds of cam data with various cam profile of XG-PM.
(g) Various Homing Control Function.
As for a homing method, you can use Homing method supported by each servo drive model.
(Refer to the instruction manual of each servo drive for more detailed homing methods and servo
parameter settings)
(h) For the Acceleration/Deceleration method, trapezoidal acceleration/deceleration and S-shaped
acceleration/deceleration is supported, and S-shaped acceleration/deceleration can be implemented
by setting jerk on a motion function block.
(3) Speed-up of execution of the motion program
Through realization of speed-up of processing at the time of start-up operation, the motion program set
as main task can be performed at up to 1ms intervals. In addition, there is no delay time between axes in
Simultaneous start and interpolation start.

Chapter 1 Overview
1-2
(4) Connection with the servo driver through EtherCAT*1
(a) Direct connection to servo drives of up to 32 units and EtherCAT I/O of up to 4 units can be achieved
through EtherCAT.
(b) Since the connection between motion control module and servo drive is made using Ethernet cables.
So wiring is simple.
(c) You can easily check and set up the servo driver information and parameter at the Motion Control
module
(d) Max. connection distance is 100m.
(5) Able to realize the absolute position system
You can realize the absolute position system just by connecting to the servo drive using the absolute
position encoder and in case of ON/OFF, it can know the current position of the motor without homing.
(6) Easy maintenance
As retain registers, parameters, cam data and location data are stored in MRAM (Magnetoresistive
Random Access Memory) within the Motion Control module, data can be stored without delay, and there
is no limited number of writes.
(7) There are no restrictions in the quantity of the Motion Control module used in the base of XGK/I system.
(However, they have to be used within the capacity of power module. The XGR system is limited to two
units.)
(8) Self-diagnosis, monitoring and test are available with strong software package, XG-PM.
(a) Monitoring function (Module & Servo driver)
(b) Trace function
(c) Trend function
(d) Reading and saving module program/parameter
(e) Reading and saving servo parameter
(f) Creation of CAM data
(g) Providing details about errors and the solution for it
(h) Print function of various forms
(9) Applicable XGK/I/R CPU version for Motion Control module.
XGT CPU Module Type
Version
XGK CPU Module
V4.10 or above
XGI CPU Module
V3.70 or above
XGR CPU Module
V2.50 or above
Note
1. What is EtherCAT?
EtherCAT, Open Industrial Ethernet Solution, is developed by Beckhoff at 2002 and at 2003, November
EtherCAT Technology Group (ETG-http://www.ethercat.org) is
organized and it opens its technology. At
2005, February, that is authorized as IEC standard specification. Because of fast control speed and
easiness for use and maintenance, it is widely used in the industrial field and conforming its performance
In our positioning module, data communication with service driver is done with master-
slave method
through EtherCAT, and electric Ethernet Cable is used.

Chapter 1 Overview
1-3
1.2 Signal Flow of Positioning Module
The flow of PLC system using the Motion Control module is as follows.
PLC CPU
Motion Control module
XGF-M32E
Servo Drive
Motor
Working
XG5000
XG-PM
External signal
Encoder 1/2
Writing sequence Program
Working by Servo drive
Setting for control
- Motion program
- Operation parameter
- Cam data
- Servo parameter
Test Operation
- Connection/Disconnection
- Servo On/Off
- Absolute/Incremental
position control
- Jog Operation, etc
Monitoring operation of
Motion Control module &
Servo drive and executing
test
Command
position/speed/torque
Slave parameter setting
value, etc
Motor position, speed,
servo parameter, external
I/O signal, etc
External signal
Connected with Motion Control
module through EtherCAT
EtherCAT I/O External signal

Chapter 1 Overview
1-4
1.3 Function overview of Motion Control module
Describe Representative functions of Motion Control module (Coordinate & Linear Interpolation, Circular
Interpolation & Stop) briefly.
1.3.1 Position Control
Execute positioning control for the designated axis from starting position(current position) to goal position(the
position to move to).
(1) Control by Absolute coordinates
(a) Execute positioning control from starting position to goal position designated in motion function block
(b) Positioning control is executed based on home position designated in homing
(c) Moving direction is decided by starting position and goal position.
1) Starting Position < Goal Position : Forward Positioning Operation
2) Starting Position > Goal Position : Reverse Positioning Operation
[ Example ]
1) Starting Position : 1000
2) Goal Position : 8000
Value of Forward movement is 7000 (7000=8000-1000)
1000
Starting Position Goal Position
0 8000
Movement Value 7000
(2) Control by Incremental Coordinates
(a) Execute positioning control from starting position as much as goal movement value.
The difference from absolute coordinates control is that the goal position is movement value, not position
value.
(b) Moving direction depends on sign of movement value.
1) Positive value (+ or 0) : Positioning operation with forward direction
2) Negative value (-) : Positioning operation with reverse direction
Starting Position
Reverse Forward
Negative value Positive value

Chapter 1 Overview
1-5
[ Example ]
1) Starting Position : 5000
2) Goal Position : -7000
In this condition, it moves reversely and stops at -2000.
-2000
Goal Position Starting Positon
05000
Reverse positioning control(movement value -7000)
1.3.2 Interpolation Control
(1) Linear Interpolation Control
Execute Linear interpolation control with designated axis at start position (Current position).
Combination of interpolation axis is unlimited and it is available to execute max. 4 axis Linear interpolation
control.
(a) Linear interpolation by absolute coordinates
1) Execute Linear interpolation from starting position to goal position designated by positioning data.
2) Positioning control is executed based on home position designated in homing.
3) Movement direction is designated by starting position & goal position of each axis.
a) Starting position < Goal position : Positioning operation with forward direction
b) Starting position > Goal position : Positioning operation with reverse direction
Y axis Forward direction
X axis
Forward
direction
Y1
Y2
X1 X2
X axis movement value
Y axis
movement
value
X axis
Reverse
direction
Y axis Reverse direction
Goal position(X2, Y2)
Starting position(X1, Y1)
Operating by linear
interpolation
[ Example ]
a) Starting Position (1000, 4000)
b) Goal Position (10000, 1000)
In this condition, operation is as follows.

Chapter 1 Overview
1-6
0
Goal
Position
(Y axis)
X axis
Starting
position
1000 5000 10000
X axis movement value (10000-1000=9000)
1000
4000
Y axis movement value
(1000-4000=-3000)
(b) Linear Interpolation by incremental coordinates
1) Goal value becomes movement value
2) Moving direction depends on movement value is positive or negative.
a) Positive value (+ or 0) : Positioning operation with forward direction
b) Negative value (-) : Positioning operation with reverse direction
Y axis Forward direction
X axis
Forward
direction
Y1
Y2
X1 X2
X axis movement value
Y axis
movement
value
X axis
Reverse
direction
Y axis Reverse direction
Linear interpolation end
position(X2, Y2)
Starting position(X1, Y1)
Movement by Linear interpolation
[ Example ]
a) Starting position (1000, 4000)
b) Goal position (9000, -3000)
In this condition, operation is as follows.
0
Linear
interpolation end
position
(Y axis)
(X axis)
Starting
position
1000 5000 10000
X axis movement value(9000)
1000
4000
Y axis
movement value
(-3000)

Chapter 1 Overview
1-7
(2) Circular Interpolation Control
Execute interpolation operation along the trace of circle with 2 axes in forward direction that already
designated for each axis.
Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point,
Center point method using auxiliary point as center of circle and Radius method using auxiliary point as
radius of circle.
The combination of 2 axes that used in circular interpolation is unlimited. Any of the two axes from the
actual axes (1-axis to 32-axis) or virtual axes (37-axis to 40-axis) can be used.)
(a) Middle Point Specified Circular interpolation
1) Starts operating at starting position and executes circular interpolation through the designated
middle point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection
between starting position and middle point or middle point and goal position.
Reverse
direction
Forward
direction
Forward
direction
Origin
Center point
of circular arc
Goal position
Middle point position
Starting point
Reverse
direction
3) Movement direction is automatically designated by goal position and auxiliary point of circular
interpolation.
(b) Center Point Specified Circular interpolation
1) Starts operating from starting position and execute circular interpolation along trace of circle that
has distance from starting point to designated center point as radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center point
of circular arc
Goal
Position
Operating by circular interpolation
Reverse Direction
Radius
Starting
position

Chapter 1 Overview
1-8
2) If the goal position is same as starting position, it is available to have an operation like a circle
that has distance from starting point to auxiliary point as its radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center point
of the circle
Starting position
& Goal position
Operating by circular interpolation
Reverse Direction
3) The direction of movement is determined according to the selection of paths (CW, CCW) to be set
at the time of motion function block.
(3) Radius Specified Circular interpolation
(a) Starts operating from starting position and execute circular interpolation along trace of circular arc that
has value designated in auxiliary point of main axis as it radius. An arc whose central point varies
depending on the sign of the radius is drawn.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
Center
point
Operating by circular interpolation when
the sign of the radius < 0
Reverse Direction
Center
point
Circular angle
< 180°
Circular angle >= 180 °
Operating by circular
interpolation when the
sign of the radius > 0
Starting
Position
(b) In radius designation form, goal position can not be set the same as starting position.
(c) The operational directions and the size of the arc are determined by the path selection (CW, CCW) of
circular interpolation commands and the sign of the radius.