Mitsubishi A1SD75M1, Руководство пользователя

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MELSEC-A
9 MAIN POSITIONING CONTROL
9.2.6 2-axis circular interpolation control with auxiliary point designation
In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular
interpolation, INC circular interpolation), two motors are used to carry out position
control in an arc path passing through designated auxiliary 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 auxiliary point designation
(ABS circular interpolation)
Operation chart
In the absolute system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount", in an arc path that passes through the auxiliary point
address set in " Da.6 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 auxiliary point address (arc address), and a straight line
between the auxiliary point address (arc address) and end point address
(positioning address).
Zero point
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
Auxiraly point address