2-Axis Circular Interpolation Control With Center Point Designation - Mitsubishi Electric MELSEC iQ-R Series User Manual

2-axis circular interpolation control with center point designation

In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC
circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while
carrying out interpolation for the axis directions set in each axis. (Refer to Page 57 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
ABS circular right
INC circular right
ABS circular left
INC circular left
Circular interpolation error compensation
In 2-axis circular interpolation control with center point designation, the arc path calculated from the start point address and
center point address may deviate from the position of the end point address set in "[Da.6] Positioning address/movement
amount". (Refer to Page 437 [Pr.41] Allowable circular interpolation error width.)
■Calculated error  "[Pr.41] Allowable circular interpolation error width"
2-axis circular interpolation control to the set end point address is carried out while the error compensation is carried out. (This
is called "spiral interpolation".)
Path with spiral interpolation
Start point address
In 2-axis circular interpolation control with center point designation, an angular velocity is calculated on the assumption that
operation is carried out at a command speed on the arc using the radius calculated from the start point address and center
point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
Thus, when there is a difference (error) between a radius calculated from the start point address and center point address
(start point radius) and a radius calculated from the end point address and center point address (end point radius), the
composite speed differs from the command speed as follows.
Start point radius > End point radius
Start point radius < End point radius
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Rotation Arc center angle that
direction can be controlled
0 <   360
Clockwise
Counterclockwise
Error
Center point address
As compared with the speed without error, the speed becomes slower as end point address is reached.
As compared with the speed without error, the speed becomes faster as end point address is reached.
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Positioning path
Start point
(current stop
position)
Start point
(current stop
position)
Calculated end point address
End point address
Positioning path
End point
(positioning
0° < θ ≤ 360°
address)
Center point
Center point
≤
0 ° < θ 360 °
End point
(positioning
address)
Positioning path
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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