Mitsubishi Electric A173UHCPU Programming Manual page 195

7. POSITIONING CONTROL
Control with INC and INC
(1) Circular interpolation of an arc from the current stop address (start point
address, 0, 0) with a radius equivalent to the distance between the start point
(0, 0) and center point.
Forward direction
Reverse direction
Home position
Reverse direction
Fig.7.20 Circular Interpolation Control by Incremental Method (INC
(2) To conduct positioning control of a full circle, divide the circular interpolation
control into two operations.
Forward direction
Reverse direction
Home position
Reverse direction
Fig.7.21 Positioning Control of a Full Circle
(3) The setting range for the center point and travel value to the end point is 0 to
±(2 31 −1).
(4) The maximum arc radius is 2
If the designated end point and center point result in a radius more than 2
an error occurs at the start and error code 109 is stored in the data register.
(incremental method)
Path of circular interpolation(for INC
Positioning speed
Start
point
1st circular interpolation control
Center
of circle
0
Radius
0
2nd circular interpolation control
−1.
31
31
2 -1
Center
of arc
0
31
31
2
-2
0
Radius R
Fig.7.21 Maximum Arc Radius
7 − 48
)
E
nd address
Forward direction
Center of arc
: indicates set data
Forward direction
Maximum arc
-1
)
−1,
31