Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 285 / 482

5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
283
5
5.6
Auxiliary Point-Specified Circular Interpolation
Control
Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for
circular interpolation is executed.
Auxiliary point-specified circular uses ABS
(Absolute data method) and INC (Incremental data method) servo
instructions.

: Must be set,

: Set if required
*1 Only when the reference axis speed is specified
Processing details
■
Control using ABS (Absolute data method)
• Circular interpolation from the current stop address (address before positioning) based on the home position through the
specified auxiliary point address to the end point address is executed.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop
address) to the auxiliary point address, and the auxiliary point address to the end point address.
• The setting range of the end point address and auxiliary point address is (-2
31
) to (2
31
-1).
Positioning data set in servo instructions
Common Servo
instruction
Positioning
method
Number
of
control
axes
Arc OSC Parameter block Others
Parameter block No. Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S-curve ratio Advanced S-curve acceleration/deceleration Bias speed at start Repeat condition Program No. Command speed (Continuous trajectory) Skip FIN acceleration/deceleration WAIT-ON/OFF Fixed position stop Axis Address/travel value Command speed Dwell time M-code Torque limit value Auxiliary point Radius Central point Number of pitches Starting angle Amplitude Frequency Interpolation control unit Speed limit value Reference axis No.
*1
Fixed position stop acceleration/deceleration time
Absolute
Incremental
2
© © © © © © © © © © © © ¨ ¨ ¨ ¨ © ©
ABS
INC
Forward direction
Forward direction
Reverse
direction
Reverse direction
End point address (X
1
, Y
1
)
Auxiliary point address (X
2
, Y
2
)
Arc central point
Operation by circular interpolation
0
*: Indicates setting data.
Start point address
(X
0
,
Y
0
)