Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 9 Major Positioning Control
9.2.11 2-axis circular interpolation control with center point designation
In "2-axis circular interpolation control" ("
Da.2
Control system" = ABS circular right,
INC circular right, ABS circular left, INC circular left), two motors are used to carry out
position control in an arc path having an arc address as a 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 systems.
Control system Rotation direction
Arc center angle that
can be controlled
Positioning path
ABS circular right
INC circular right
Clockwise
Positioning path
0° < < 360°
Center point
Start point
(current stop
position)
End point
(positioning address)
ABS circular left
INC circular left
Counterclockwise
0
°
<
θ ≤
360
°
Center point
Positioning path
Start point
(current stop
position)
End point
(positioning address)
0°< < 360°