Mitsubishi A1SD75P1-S3 User Manual page 337

9 MAIN POSITIONING CONTROL
(2) 2-axis circular interpolation control with auxiliary point designation
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(INC circular interpolation)
In the increment system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to a position at the end of the movement amount set in
" Da.5 Positioning address/movement amount", in an arc path that passes
through the auxiliary point address set in " Da.6 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of the following:
(1) A straight line between the start point address (current stop position) and
auxiliary point address (arc address) calculated from the movement amount to
the auxiliary point.
(2) A straight line between the start auxiliary point address (arc address) and end
point address (positioning address) calculated from the movement amount to
the end point.
Forward direction
Movement amount
to the auxiliary point
Reverse direction
Reverse direction
Auxiliary point address
Movement by circular interpolation
(arc address)
Start point
address
Movement amount
to the auxiliary point
Movement amount to the end point
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MELSEC-A
End point address
(positioning address)
Movement amount
to the end point
Arc center
Forward direction