Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 9 Major Positioning Control
9.2.10 2-axis circular interpolation control with sub point designation
In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub,
INC circular sub), two motors are used to carry out position control in an arc path
passing through designated sub points, 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.)
[1] 2-axis circular interpolation control with sub point designation (ABS
circular sub)
Operation chart
In the absolute system, 2-axis circular interpolation control with sub point
designation, positioning is carried out from the current stop position (start point
address) to the address (end point address) set in "
Da.6 Positioning address/
movement amount", in an arc path that passes through the sub point address set
in "
Da.7 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and sub point address (arc address), and a straight line between the
sub point address (arc address) and end point address (positioning address).
OP
Reverse direction
Forward direction
Arc center point
Movement by circular interpolation
Forward direction
End point address
(arc address)
(positioning address)
Start point address
(current stop position)
Reverse direction
Sub point address