Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 290

Processing details
Details for the servo instructions are shown in the table below.
Instruction Rotation direction of the
servomotors
ABS Clockwise
INC
ABS Counter clockwise
INC
ABS Clockwise
INC
ABS Counter clockwise
INC
■Control using ABS
• Circular interpolation from the current stop address (address before positioning) based on the home position to the
specified end address with the specified radius is executed.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop
address) to the end address.
Forward direction
Positioning speed
Start point
address (X
Reverse
direction
0
Reverse direction
• The setting range of end point address is (-2
• The setting range for the radius is 1 to (2
• The maximum arc radius is (2
31
2 -1
31
-2
Radius R
Arc central point
5 POSITIONING CONTROL
288
5.7 Radius-Specified Circular Interpolation Control
Maximum controllable angle of arc
0 <  < 180
180   < 360
, ABS , ABS
Circular interpolation path
Radius R
Arc central point
, Y )
0 0
*: Indicates setting data.
31
) to (2
31
-1).
32
-1).
Maximum arc
2 -1
31
, ABS (Absolute data method)
End address (X , Y )
1 1
Forward direction
31
-1).
Positioning path
Positioning path
Start
End point
θ < 180 °
point
Radius R
Central point
Central point
Radius R
θ < 180 °
Start
End point
point
Positioning path
Positioning path
180° ≤ θ < 360°
Central point
Radius R
Start point End point
Start point
End point
Radius R
Central point
180 ° ≤ θ < 360 °
Positioning path