Circular Interpolation Using Auxiliary Point Designation - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.6

Circular Interpolation Using Auxiliary Point Designation

Servo Positioning
Instruction Method
ABS
Absolute data
INC
Incremental
[Control Details]
Circular interpolation control by designating the end point address and auxiliary
point address (a point on the arc).
Circular interpolation control using auxiliary point designation uses ABS
(absolute data method) and INC
Common
Number of
Controllable
Axes
∆
! ! !
2
Control with ABS
(1) Circular interpolation from the current stop address (pre-positioning address)
through the designated auxiliary point address to the end point address, using
the home position as the reference.
(2) The center of the arc is the point of intersection of the perpendicular
bisectors of the start point address (current stop address) to the auxiliary point
address, and the auxiliary point address to the end point address.
Forward direction
Reverse
direction
Reverse direction
Fig.7.9 Circular Interpolation Control by Absolute Data Method
(incremental method) servo instructions.
Items Set by Peripherals
Arc
∆ ∆ ∆
!
(absolute data method).
Movement due to circular interpolation
Auxiliary point address (X
Start point address (X , Y
0
0
Center of arc
7 − 36
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
End point address (X
, Y )
2 2
)
0
Forward direction
: indicates set data
Others
∆ ∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
, Y )
1 1