7. POSITIONING CONTROL
7
−
40
7.7
Circular Interpolation Using Radius Designation
Circular interpolation control by designating the end point and arc radius.
Circular interpolation control using radius designation uses ABS
, ABS ,
ABS
, and ABS
(absolute data method) and INC
, INC , INC
, and
INC
(incremental method) servo instructions.
Items Set by Peripherals
Common
Arc
Parameter Block
Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
mma
nd
e
d
Sp
e
e
d
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
Sp
e
e
d
L
imi
t Va
lu
e
A
cceler
atio
n
T
im
e
D
eceler
atio
n
T
im
e
R
a
pi
d S
top D
e
c
e
le
ra
ti
on
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
eceler
atio
n
P
ro
cessin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
Ca
n
c
e
l
St
a
rt
S
p
eed
C
h
an
g
e
ABS
ABS
ABS
ABS
Absolute data
INC
INC
INC
INC
Incremental
2
∆
!
!
!
∆
∆
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
NG
!
: Must be set
∆
: Set if required
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