Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 294

■Control using ABS
• Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between
the current stop address (address before positioning) based on the home position and the specified end point address.
Forward direction
Start point
address (X
Reverse
direction
Reverse direction
• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
Forward direction
Arc central point
Reverse Start address, end address
direction
Reverse direction
• Setting range of end point address and arc central point is (-2
• The maximum arc radius is (2
31
2 -1
31
-2
Arc central point
■Control using INC
• Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0,
0) and central point.
Forward direction
Reverse direction
Home point
Reverse direction
5 POSITIONING CONTROL
292
5.8 Central Point-Specified Circular Interpolation Control
, ABS (Absolute data method)
Operation by circular interpolation
Positioning speed
Radius R
, Y )
0 0
Arc central point
*:
Circular interpolation control
32
-1).
Maximum arc
31
2 -1
Radius R
, INC (Incremental method)
Operation by circular interpolation (for INC
Positioning speed
Start
point
End address (X , Y )
1 1
Forward direction
Indicates setting data.
Forward direction
31 31
) to (2 -1).
)
End point
Forward direction
Arc central point
*: Indicates setting data.