Mitsubishi Electric MELSEC Q Series Programming Manual page 241

6 POSITIONING CONTROL
Fig.6.20 Circular interpolation control using incremental data method (INC
Control using INC , INC
(1) Circular interpolation from the current stop address (0, 0) with a radius equivalent
to the distance between the start point (0, 0) and central point.
Forward direction
Reverse
direction
Home point
Reverse direction
(2) Positioning control of a complete round is possible in the central point-specified
circular interpolation control.
Forward direction
Reverse
direction
Reverse direction
Fig.6.21 Positioning control of a complete round
(3) Setting range of travel value to end point address and arc central point is 0 to
(2 31 -1).
(4) The maximum arc radius is (2
If the end point and central point are set more than a radius of (2
occurs at the start and minor error (error code: 109) is stored in the data register.
Fig.6.22 Maximum arc radius
(Incremental method)
Operation by circular interpolation (for INC
Positioning speed
Start
point
(Note)
Circular interpolation control
Arc central
point
0
Start address, end address
31 -1).
2 -1
31
Arc central point
0
-2 2
31
Radius R
6 - 54
)
End point
Forward direction
Arc central point
: Indicates setting data
Forward direction
31 -1), an error
Maximum arc
-1
31
)