Mitsubishi Electric A173UHCPU Programming Manual page 189

7. POSITIONING CONTROL
Control with ABS , ABS
(absolute data method)
(1) Circular interpolation of an arc of the designated radius from the current stop
address (pre-positioning address) to the designated end point address, using
the home position as the reference.
(2) The center of the arc lies at the point of intersection of the designated radius
and the perpendicular bisector of the start point address (current stop address)
to the end point address.
Forward direction
Reverse
direction
0
Reverse direction
Fig.7.13 Circular Interpolation Control by Absolute Data Method
(3) The setting range for the end point address is −2
(4) The maximum arc radius is 2
Arc center point
, ABS , , and ABS
Path of circular interpolation
Positioning speed
Radius (R)
Start point
address (X , Y )
0 0
31 −1.
−1
31
2
0
−2
31
0
Radius R
Fig.7.14 Maximum Arc
7 − 42
End address (X , Y
1
Center of arc
Forward direction
: indicates set data
−1).
31 31
to (2
Maximum arc
−1
31
2
)
1