Mitsubishi Electric MELSEC iQ-R Series User Manual page 234

• Absolute value circular interpolation control operation with border point designation
In absolute value circular interpolation control with border point designation, positioning is carried out from the current position
at start (start point address) to the address set to EndPoint (end point address) in an arc path that passes through the address
(border point address) set to AuxPoint.
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line
between the current position at start and the border point address, and a straight line between the border point address and
the end point address. However, a perfect circle cannot be drawn with the border point designation. (The end point and the
sub point shown in the following figure indicate the data to be set.)
Positive direction
Start point
(current position)
Negative
direction
Home position
Negative direction
• Relative value circular interpolation control operation with border point designation
In relative value circular interpolation control with border point designation, positioning is carried out from the current position
at start (start point address) to the address of the movement amount set to EndPoint in an arc path (end point address) that
passes through the address of the movement amount set to AuxPoint (border point address).
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line
between the current position at start and the border point address, and a straight line between the border point address and
the end point address. (The end point, the positioning speed, and the sub point shown in the following figure indicate the data
to be set.)
Positive direction
Negative
direction
Home position
Negative direction
6 AXIS CONTROL FUNCTION
232
6.4 Multiple Axes Positioning Control
Movement by circular interpolation
Sub point
Arc center point
Positioning speed
Sub point
Start
point
End point
Positive direction
End point
Arc center point
Positive direction