2-Axis Circular Interpolation Control With Sub Point Designation - Mitsubishi Melsec-Q QD75P1 User Manual

9 MAJOR POSITIONING CONTROL

9.2.10 2-axis circular interpolation control with sub point designation

In "2-axis circular interpolation control" ("
INC circular sub), two motors are used to carry out position control in an arc path
passing through designated sub points, 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.)
[1] 2-axis circular interpolation control with sub point designation (ABS
circular sub)
Operation chart
In the absolute system, 2-axis circular interpolation control with sub point
designation, addresses established by a machine OPR on a 2-axis coordinate
plane are used. Positioning is carried out from the current stop position (start point
address) to the address (end point address) set in "
address/movement amount", in an arc path that passes through the sub point
Da.7
address set in "
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and sub point address (arc address), and a straight line between the
sub point address (arc address) and end point address (positioning address).
Forward direction
Reverse direction
OP
Reverse direction
Da.2 Control system" = ABS circular sub,
Arc address".
Movement by circular interpolation
Sub point address
(arc address)
Start point address
(current stop position)
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MELSEC-Q
Da.6
Positioning
End point address
(positioning address)
Arc center point
Forward direction