Mitsubishi Electric MELSEC iQ-R Series User Manual page 237

• Absolute value circular interpolation control operation with center point designation
In absolute value circular interpolation control operation with center point designation, positioning is carried out from the
current position at start (start point address) to the end position set to EndPoint in an arc path having the center point set in
AuxPoint as its center. (The end point and the center point of the arc shown in the following figure indicate the data to be set.)
Positive direction
Start point
Radius
Negative
direction
Home position
Negative direction
Positioning of a perfect circle with a radius from the start point address to the arc center point can be carried out by setting the
EndPoint to the same address as the start point. (The start point, the end point, and the center point of the arc shown in the
following figure indicate the data to be set.)
Positive direction
Arc center point
Negative
direction
Home position
Negative direction
Ex.
To specify EndPoint to the same as the start point, specify the set position of the configuration axes to be used in circular
interpolation to the EndPoint input as the following.
AxesGroupName.Pr.Axis[1] = Axis0001.AxisRef
AxesGroupName.Pr.Pr.Axis[2] = Axis0002.AxisRef
EndPoint = [Axis0001.Md.SetPosition Axis0002.Md.SetPosition]
Movement by circular interpolation
End point
Positive direction
Arc center point
Start point End point
=
Positive direction
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
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