Circular Interpolation Using Auxiliary Point Designation - Mitsubishi Electric SV13/22 Programming Manual

7. POSITIONING CONTROL
7.6

Circular Interpolation Using Auxiliary Point Designation

Servo
Instruction
ABS
Absolute data
INC
[Control Details]
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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
Number of
Positioning
Controllable
Method
Axes
∆
!
2
Incremental
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 auxiiary point
address, and the auxiliary point address to the end point address.
Reverse
direction
Reverse direction
Fig. 7.9 Circular Interpolation Control by Absolute Data Method
search engine
(incremental method) servo instructions.
Items Set by Peripherals
Common Arc
∆ ∆
! ! !
(absolute data method).
Movement due to circular interpolation
Forward direction
Auxiliary point address (X
Start point address (X
0
Center of arc
7 − 36
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆ ∆
End point address (X
, Y )
2 2
, Y )
0 0
Forward direction
* indicates set data
Others
∆ ∆ ∆ ∆
NG
! : Must be set
∆ : Set if required
, Y )
1 1