Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
• The maximum arc radius is 2
32
-1.
■ Control using INC (Incremental data method)
• Circular interpolation from the current stop address 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 for the travel value to the end point address and auxiliary point address is 0 to

(2
31
-1).
• The maximum arc radius is 2
31
-1. If the end point and auxiliary point are set more than a radius of 2
31
-1, an error occurs at
the start and minor error (error code: 1A2AH) is stored in the data register.
Maximum arc
Arc central point
Radius R
2
31
-1
2
31
-1
-2
31
Forward
direction
Positioning speed
End point
Travel
value to
end point
Travel
value to
auxiliary
point
Reverse
direction
Start point
Home
position
Travel value to
auxiliary point
Travel value to end point
Forward direction
Y
1
Y
2
X
1
X
2
*: Indicates setting data.
Auxiliary point
Arc central point
Maximum arc
2
31
-1
-2
31
2
31
-1
0
Radius R
Arc central point