Mitsubishi Electric A173UHCPU - Page 190

7. POSITIONING CONTROL
7 − 43
Control with INC
,
INC
,
INC ,
, and
INC
(incremental method)
(1) Circular interpolation of an arc of the designated radius from the current stop
address (0, 0) to the designated end point address.
(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.7.15 Circular Interpolation Control by Incremental 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
Radius R
Maximum arc
2
31
-1
2
31
-1
-2
31
Center
of arc
0
Fig.7.16 Maximum Arc