7.8 Circular Interpolation Using Center Point Designation - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL

7.8 Circular Interpolation Using Center Point Designation

Servo Positioning
Instruction Method
ABS
Absolute data
ABS
INC
Incremental
INC
[Control Details]
Circular interpolation control by designating the end point and arc center point.
Circular interpolation control using center point designation uses ABS
ABS (absolute data method) and INC
servo instructions.
Common
Number of
Controllable
Axes
∆
! ! !
2
Details of control with the servo instructions are shown in the table below.
Servomotor
Instruction Direction of
Rotation
ABS
Clockwise
INC
ABS
Counterclockwise
INC
Items Set by Peripherals
Arc
∆ ∆ ∆
!
Max.
Controllable
Angle of Arc
0° < θ < 360°
7 − 46
and INC (incremental method)
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
Positioning Path
θ<360°
0°<
Start point
Center point
Center point
Start point θ<360°
0°<
and
Others
∆ ∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
Positioning
path
End point
End point
Positioning
path