7. POSITIONING CONTROL
7 − 48
Control with INC
and INC (incremental method)
(1) Circular interpolation of an arc from the current stop address (start point
address, 0, 0) with a radius equivalent to the distance between the start point
(0, 0) and center point.
Path of circular interpolation(for INC )
Home position
Forward direction
Forward direction
Reverse direction
Reverse direction
Start
point
Positioning speed
Center of arc
: indicates set data
E
nd address
Fig.7.20 Circular Interpolation Control by Incremental Method (INC )
(2) To conduct positioning control of a full circle, divide the circular interpolation
control into two operations.
Forward direction
Reverse direction
Reverse direction
1st circular interpolation control
2nd circular interpolation control
Center
of circle
Forward direction
Radius
Home position
0
0
Fig.7.21 Positioning Control of a Full Circle
(3) The setting range for the center point and travel value to the end point is 0 to
±(2
31
−1).
(4) The maximum arc radius is 2
31
−1.
If the designated end point and center point result in a radius more than 2
31
−1,
an error occurs at the start and error code 109 is stored in the data register.
0
Radius R
Maximum arc
2
31
-1
31
-1
-2
31
Center
of arc
0
Fig.7.21 Maximum Arc Radius
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