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7. POSITIONING CONTROL
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Control with ABS
(1) Circular interpolation of an arc with a radius equivalent to the distance between
the start point and center point, between the current stop address (pre-
positioning address used as the start point address) and the designated end
point address, using the home position as the reference.
Reverse direction
Fig. 7.17 Circular Interpolation Control by Absolute Date Method
(2) To conduct positioning control of a full circle, divide the circular interpolation
control into two operations.
Reverse direction
(3) The setting range for the end point address and arc center point is −2
(4) The maximum arc radius is 2
search engine
and ABS
(absolute data method)
Forward direction
Movement due to circular interpolation
Start
point
address
(X
, Y
)
0
0
0
Reverse direction
Forward direction
1st circular interpolation control
Center of arc
1st start address, 2nd end address
0
Reverse direction
Fig. 7.18 Positioning Control of a Full Circle
−1.
32
31
2
-1
0
31
-2
Radius R
Arc center point
Fig. 7.19 Maximum Arc
7 − 47
End address (X
1
Positioning speed
Radius (R)
Forward direction
Center of arc
*
indicates set data
1st end address, 2nd start address
2nd circular interpolation control
Forward direction
Maximum arc
31
2
-1
, Y
)
1
31
to +2
31
−1.
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