Arc Interpolation Control

Arc interpolation controls interpolation so that the path to reach the motion destination position will be an arc.

The figure below shows an example of motion by arc interpolation control.

If "C" is designated for the interpolation method with the motion control command, the robot executes an arc interpolation motion.

• When arc interpolation control is executed, the robot cannot simply move to the position of a different figure from the current figure in the same manner as in CP control. If a different figure is designated, an error may occur. Note that if the movement is available, the error may not occur.
• A figure similar to the current one is selected for the robot figure when arc interpolation control is executed. Therefore, even if the robot figure is designated with a Type P or Type T variable, the figure may not become the one designated. If the figure is different from the figure designated, a warning may occur.
• If the first motion command is executed in a program with arc interpolation control, the motion may not be available depending on the robot position. PTP control is recommended for the first motion command in the program.