7. POSITIONING CONTROL
7
−
46
7.8 Circular Interpolation Using Center Point Designation
Circular interpolation control by designating the end point and arc center point.
Circular interpolation control using center point designation uses ABS
and
ABS
(absolute data method) and 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
s
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
S-
Cu
rv
e
Ra
ti
o
Ca
n
c
e
l
St
a
rt
S
p
eed
C
h
an
g
e
ABS
ABS
Absolute data
INC
INC
Incremental
2
∆
!
!
!
∆
∆
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
NG
!
: Must be set
∆
: Set if required
[Control Details]
Details of control with the servo instructions are shown in the table below.
Instruction
Servomotor
Direction of
Rotation
Max.
Controllable
Angle of Arc
Positioning Path
ABS
INC
Clockwise
0°
<
θ
360°
Center point
Positioning
path
Start point
End point
<
ABS
INC
Counterclockwise
0
°
<
θ
≤
360
°
0°
<
θ
360°
Center point
Positioning
path
Start point
End point
<
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