Mitsubishi Electric A173UHCPU - Page 189

7. POSITIONING CONTROL
7 − 42
Control with ABS
,
ABS
,
ABS ,
, and
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.
: indicates set data
0
Forward direction
Start point
address (X
0
, Y
0
)
End address (X
1
, Y
1
)
Positioning speed
Center of arc
Forward direction
Reverse direction
Reverse
direction
Path of circular interpolation
Radius (R)
Fig.7.13 Circular Interpolation Control by Absolute Data Method
(3) The setting range for the end point address is −2
31
to (2
31
−1).
(4) The maximum arc radius is 2
31
−1.
0
0
Maximum arc
A
rc center
p
oint
Radius R
2
31
−
1
2
31
−
1
−
2
31
Fig.7.14 Maximum Arc