Rockwell Automation GMLC Reference Manual - Manual (Page 267)

Publication GMLC-5.2 - November 1999
230 Motion Blocks
Intermediate Arc Circular Interpolation
When you select Intermediate Arc from the Type menu, the selected axes
move the specified distances (in Incremental mode), or to the specified
destination positions (in Absolute mode), along a circular path which
passes through the specified point.
The vector speed of the selected axes is equal to the specified speed in the
position units of the X axis per second or percent of the maximum speed
of the X axis. Likewise the vector acceleration and deceleration
(trapezoidal profile) is equal to the specified acceleration/deceleration in
the position units of the X axis per second
2 or percent of the maximum
acceleration of the X axis. The deceleration rate is always the same as the
acceleration rate and cannot be changed while the move is in progress.
Example 3: Intermediate Arc Absolute Mode
For example, if the following bullets are true, and the Interpolate Axes
parameters are as shown in the dialog box below, it uses 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 which passes through the point X = 3.7, Y = 8.6, as shown
in the diagram below.
• Axis 0 is the X axis and is currently located at absolute position –10.4
position units
• Axis 1 is the Y axis and is currently at position –1.3 position units