G3 Counterclockwise circular interpolation

 

Circular interpolation with two different circle descriptions. The counterclockwise specification applies for the relative motion of the tool towards the workpiece, when looking at the path plane in the negative direction of the coordinate axis that is vertical on this plane (clockwise-rotating coordinate system). The interpolation plane is selected modally via commands G17–G19 before the circular interpolation. The target coordinates and the coordinates of the circle center can be scaled before importing the G-code into the RobotMonitor's import dialog. (NOTE: The screw function is not supported in the current version of the software)

Circle description, circle center/end position

Starting from the beginning of the circle (current position of the robot) via the center of the circle to the target coordinate. This interpolation is illustrated in the SRL program via the CIRC_EXPLICIT command with the CCW circle direction (Direction) and the CenterEndpos circle description (Description). By default, the circle center is specified relative to the start point.

Associated address commands:

  • Command for plane selection G17 – G18
  • Target coordinates (max. 2 in the selected plane) X, Y, Z
  • Coordinates of arc center (max. 2 in the selected plane) I, J, K

Syntax:

G2 [X<float>] [Y<float>] [Z< float >] [I <float >] [J< float >] [K<float>]

Example:

G17 (Selection of plane X-Y)

G2 X200.50 Y-10.00 I50.00 J25.00

Implementation in the SRL program:

CIRC_EXPLICIT

INFORMATION: The circular interpolation is displayed in RobotMonitor as a sequence of editable assignments. However, the CIRC_EXPLICIT block provides equivalent functionality in the process.

Circle description, radius/end position

Starting from the beginning of the circle (current position of the robot) to the target coordinate according to the radius. This interpolation is illustrated in the SRL program via the CIRC_EXPLICIT command with the CCW circle direction (Direction) and the RadiusEndpos circle description (Description).

Associated address commands:

  • Target coordinates (max. 2 in the selected plane) X, Y, Z
  • Circle radius R

Syntax:

G2 [X<float>] [Y<float>] [Z< float >] [R <float >]

Example:

G17 (Selection of plane X-Y)

G2 X200.50 Y-10.00 R75.50

Implementation in the SRL program:

CIRC_EXPLICIT

INFORMATION: The circular interpolation is displayed in RobotMonitor as a sequence of editable assignments. However, the CIRC_EXPLICIT block provides equivalent functionality in the process.