Mitsubishi Electric A173UHCPU Programming Manual page 184

7. POSITIONING CONTROL
(3) The setting range for the end point address and auxiliary point address is –2
to +2
31
–1.
(4) The maximum arc radius is 2
Arc center point
Control with INC (incremental method)
(1) Circular interpolation from the current stop address (pre-positioning address)
through the designated auxiliary point address to the end point address.
(2) The center of the arc is the point of intersection of the perpendicular bisectors
of the start point address (current stop address) to the auxiliary point address,
and the auxiliary point address to the end point address.
Forward direction
Travel
value to
end
point
Reverse direction
Home position
Fig.7.11 Circular Interpolation Control by Incremental Method
(3) The setting range for the travel value to the end point address and auxiliary
point address is 0 to ±(2
(4) The maximum arc radius is 2
If the designated end point and auxiliary point result in a radius more than 2
1, an error occurs at the start and error code 107 is stored in the data register.
−1.
32
31
2 -1
0
31
-2
Radius R
Fig.7.10 Maximum Arc
Positioning speed
Y
1
Y
2
Travel
Auxliiary point
value to
auxiliary
point
X
2
Travel value to
Start point
auxiliary point
31
–1).
31
–1.
31
2 -1
Center
of arc
0
31
2
-2
0
Radius R
Fig.7.12 Maximum Arc
7 − 37
Maximum arc
31
2 -1
: indicates set data
End point
X
1
Center of arc
Travel value to end point
Forward direction
Maximum arc
31
-1
31
31
–