6 POSITIONING CONTROL

[Control details]

Details for the servo instructions are shown in the table below.

Instruction

Rotation direction of

Maximum controllable

Positioning path

the servomotors

angle of arc

 

 

 

 

ABS

 

 

 

Start

 

Positioning path

 

 

 

<180

End point

 

Clockwise

 

 

point

 

 

 

 

 

 

 

Radius R

 

 

INC

 

 

 

Central point

 

 

 

 

 

 

0° <

< 180°

 

 

 

ABS

 

Radius R

Central point

 

 

 

 

 

 

 

 

 

Counter clockwise

 

 

Start

<180

End point

 

 

 

INC

 

 

 

point

 

Positioning path

 

 

 

 

 

 

 

 

 

 

 

 

 

Positioning path

ABS

 

 

 

180 <= <360

Central point

 

Clockwise

 

 

 

 

 

 

 

 

 

 

INC

 

 

 

Radius R

End point

 

 

 

Start point

 

 

 

 

 

 

 

180°

< 360°

 

 

 

 

 

Start point

End point

 

 

 

 

ABS

 

 

 

Radius R

 

 

 

 

 

 

 

Counter clockwise

 

 

180

<

Central point

 

 

 

 

 

 

 

 

 

 

 

 

= <360

 

INC

 

 

 

 

 

Positioning path

 

 

 

 

 

 

 

Control using ABS , ABS , ABS , ABS (Absolute data method)

(1)Circular interpolation from the current stop address (address before positioning) based on the home position to the specified end address with the specified radius is executed.

(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 end address.

Forward direction

Circular interpolation path

Positioning speed

End address (X1, Y1)

 

 

Start point

Radius R

Arc central point

 

 

Reverse

address (X0, Y0)

 

 

 

 

 

 

 

Forward direction

direction

 

 

 

 

0

 

 

 

 

 

 

 

Reverse direction

(Note)

: Indicates setting data

Fig.6.13 Circular interpolation control using absolute data method

(3)The setting range of end point address is (-231) to (231-1). 6 - 44