Yaskawa YASNAC PC NC Programming Manual - Manual (Page 39)

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YASNAC PCNC Programming Manual Chapter 2: Commands Calling Axis Movements
• With the commands of “G17 G02 (or G03) I • • • J • • • F • • • Ln;”, full-circle interpo-
lation is repeated by n times. If address L is omitted, interpolation is executed once.
Execution of the commands with the single-block function ON causes full-circle inter-
polation to be interrupted after the execution of one full-circle interpolation.
• In circular interpolation, if the distance between the start and end points is smaller than
the value set for parameter pm4450, these two points are connected by a straight line.
2.1.4 Helical Interpolation (G02, G03)*
It is possible to execute linear interpolation in synchronization with circular interpolation with the
axis which is not included in the circular interpolation plane. This is called helical interpolation.
The command format is indicated below.
• In the XY plane
G17 G02 (or G03) X • • Y • • R • • (or I • • J • •) Z (a, b) • • F • •;
• In the ZX plane
G18 G02 (or G03) Z • • X • • R • • (or K • • I • •) Y (a, b) • • F • •;
• In the YZ plane
G19 G02 (or G03) Y • • Z • • R • • (or J • • K • •) X (a, b) • • F • •;
• In the Xa plane
G17 G02 (or G03) X • • a • • R • • (or I • • J • •) Z (b) • • F • •;
• In the Za plane
G18 G02 (or G03) Z• • a • • R • • (or K • • I • •) Y (b) • • F • •;
• In the Ya plane
G19 G02 (or G03) Y • • a • • R • • (or J • • K • • X (b) • • F • •;
• In the Xb plane
G17 G02 (or G03) X • • b • • R • • (or I • • J • •) Z (a) • • F • •;
• In the Zb plane
G18 G02 (or G03) Z • • b • • R • • (or K • • I • •) Y (a) • • F • •;
• In the Yb plane
G19 G02 (or G03) Y • • b • • R • • (or J • • K • •) X (a) • • F • •;
Where, a and b are the linear 4th and 5th axes respectively, each representing any of U-, V-, and
W-axis. If no 4th- or 5th-axis is specified as the end point command of the arc, any of the com-
mand format is selected among the commands in the XY plane, ZX plane, and YZ plane.