Mitsubishi Electric QD77MS User Manual page 531

[2] 2-axis circular interpolation control with center point designation
(INC circular right, INC circular left)
Operation chart
In the incremental system, 2-axis circular interpolation control with center point
designation, positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount", in an arc path having as its center the
address (arc address) of the center point set in "[Da.7] Arc address".
Forward direction
Start point address
(Current stop position)
Reverse
direction
Reverse
direction
Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".
Reverse direction
Radius
Arc center point
(Arc address)
Movement amount to the end point
Forward direction
Reverse direction
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Chapter 9 Major Positioning Control
Movement by circular interpolation
Arc center point
(Arc address)
Movement amount = 0
Movement amount
to the end point
Forward direction
Forward direction