Rockwell Automation GMLC Reference Manual - Manual (Page 262)

Publication GMLC-5.2 - November 1999
Interpolate Axes 225
If the calculated acceleration/deceleration value exceeds the input
acceleration/deceleration value, or the calculated velocity exceeds the
input speed, an Insufficient Time runtime fault (Runtime_fault = 28) is
generated when you execute the block. You can correct this problem if
you increase the move’s:
• time setting
• maximum speed setting
• maximum acceleration/deceleration setting.
See Runtime Fault under the System Variables chapter in this manual for
more information on runtime faults.
Radius Arc Circular Interpolation
When you select Radius Arc from the Type menu, the selected axes move
the specified distances (in Incremental mode), or to the specified
destination positions (in Absolute mode), in the commanded direction,
along the perimeter of a circle with its center at a specified point.
Example 1: Radius Arc Absolute Mode
For example, if Axis 0 is the X axis and is currently located at absolute
position –10.4 position units, and Axis 1 is the Y axis and is currently
located at position –1.3 position units, the Interpolate Axes parameters
shown below use Interpolator 1 to move Axis 0 to an endpoint of 11.2 and
Axis 1 to an endpoint of 6.6 along a circular arc whose center is at
X = 3.7, Y = –6.4 in a clockwise direction, as shown by the solid line
below.