G2 Clockwise circular interpolation

 

Circular interpolation with two different circle descriptions. The clockwise specification applies to the movement of the tool relative to the workpiece, when looking at the path plane in the negative direction of the coordinate axis perpendicular to this plane (clockwise coordinate system). The interpolation plane is selected modally via commands G17 to 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 import dialog of the RobotMonitor (INFORMATION: The screw function is not supported by 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 circle center to the target coordinate. This interpolation is mapped in the SRL program by the CIRC_EXPLICIT command with the CW circle direction (Direction) and the CenterEndpos circle description (Description). By default, the circle center is specified relative to the start point.

Associated address letters:

  • Target coordinates (max. 2 in the selected plane, see G17-G19) X, Y, Z
  • Coordinates of arc center (max. 2 in the selected plane, see G17-G19) I, J, K

Syntax: Observe Note on the syntax explanation.

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

Example:

G2 X20.50 Y-456.00 I30.00 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 CW circle direction (Direction) and the RadiusEndpos circle description (Description).

Associated address letters:

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

Syntax: Observe Note on the syntax explanation.

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 with editable coordinates and circle radius. The plane is selected via a separate SRL block that is formed from the G-code commands G17 to G19.