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. If REAL variables are used for the target and arc center coordinates instead of constant values, the REAL variables are not scaled. (INFORMATION: 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 circle center to the target coordinate. This interpolation is illustrated in the SRL program via the CIRC_EXPLICIT command with the "CCW" circle direction and the "CenterEndpos" circle description. By default, the circle center is specified relative to the starting point.

Associated address letters:

INFORMATION: Instead of constant values, REAL variables can also be used for the address letters.

Plane selection command 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<REAL>] [Y<REAL>] [Z<REAL>] [I <REAL>] [J<REAL>] [K<REAL>]

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 and the "RadiusEndpos" circle description.