Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
■
Control using ABS , ABS (Absolute data method)
• Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between
the current stop address (address before positioning) based on the home position and the specified end point address.
• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
• Setting range of end point address and arc central point is (-2
31
) to (2
31
-1).
• The maximum arc radius is (2
32
-1).
■
Control using INC , INC (Incremental method)
• Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0,
0) and central point.
Forward direction
Forward direction
Reverse direction
Reverse
direction
Positioning speed
End address (X
1
, Y
1
)
Arc central point
Radius R
Operation by circular interpolation
Start point
address (X
0
, Y
0
)
*: Indicates setting data.
Forward direction
Circular interpolation control
Arc central point
Start address, end address
Forward direction
Reverse
direction
Reverse direction
Maximum arc
Arc central point
Radius R
2
31
-1
2
31
-1
-2
31
Forward direction
Forward direction
Reverse direction
Home point
Reverse direction
Operation by circular interpolation (for INC )
Positioning speed
End point
Arc central point
Start
point
*: Indicates setting data.