G3 Counterclockwise circular interpolation

Circular interpolation with two different circle descriptions. The counterclockwise specification applies to the relative movement 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 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 CCW circle direction (Direction) and the CenterEndpos circle description (Description). By default, the circle center is specified relative to the start point.

Associated address letters:

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: Observe Note on the syntax explanation.

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).