Mitsubishi A1SD75M1, User Manual

Page: 398 / 746

9 - 40
MELSEC-A
9 MAIN POSITIONING CONTROL
9.2.7 2-axis circular interpolation control with center point designation
In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC
right arc, ABS left arc, INC left arc), two motors are used to carry out position control in
an arc path having a designated center point, while carrying out interpolation for the
axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control methods.
Control method Rotation direction
Arc center angle that
can be controlled
Positioning path
ABS right arc
INC right arc
Clockwise
Positioning path
0° <
θ ≤
360°
Center point
Start point
(current stop
position)
End point
(positioning address)
ABS left arc
INC left arc
Counterclockwise
0
°
<
θ ≤
360
°
Center point
Positioning path
Start point
(current stop
position)
End point
(positioning address)
0°<
θ ≤
360°