2-Axis Circular Interpolation Control With Center Point Designation - Mitsubishi Electric A1SD75P1-S3 User Manual

9 MAIN POSITIONING CONTROL

9.2.7 2-axis circular interpolation control with center point designation

In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC
right arc, ABS left arc, INC left arc), two motors are used to carry out position control in
an arc path having a designated center point, while carrying out interpolation for the
axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control methods.
Control method Rotation direction
ABS right arc
INC right arc
ABS left arc
Counterclockwise
INC left arc
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Arc center angle that
can be controlled
Clockwise
θ ≤
°
0 <
Start point
(current stop
position)
°
360
Start point
(current stop
position)
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MELSEC-A
Positioning path
Positioning path
End point
0° < θ ≤ 360°
(positioning address)
Center point
Center point
0°< θ ≤ 360°
End point
(positioning address)
Positioning path