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7. POSITIONING CONTROL
Control with ABS
(1) Circular interpolation of an arc with a radius equivalent to the distance between
the start point and center point, between the current stop address (pre-
positioning address used as the start point address) and the designated end
point address, using the home position as the reference.
Forward direction
Reverse direction
Reverse direction
Fig.7.17 Circular Interpolation Control by Absolute Date Method
(2) To conduct positioning control of a full circle, divide the circular interpolation
control into two operations.
Forward direction
Reverse direction
0
Reverse direction
Fig.7.18 Positioning Control of a Full Circle
(3) The setting range for the end point address and arc center point is −2
(4) The maximum arc radius is 2
Arc center point
and ABS
(absolute data method)
Positioning speed
Start
point
Radius(R)
address
(X
,Y
)
0
0
0
1st circular interpolation control
1st end address, 2nd start address
Center of arc
2nd circular interpolation control
1st start address, 2nd end address
−1.
32
31
2
-1
0
31
-2
Radius R
Fig.7.19 Maximum Arc
7 − 47
Movement due to circular interpolation
E
(X
nd address
1
Forward direction
Center of arc
: indicates set data
Forward direction
Maximum arc
31
2
-1
,Y
)
1
−1).
31
31
to (2
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