Mitsubishi Electronics Q172HCPU, Q173HCPU Fig.6.19 Maximum arc, 6 POSITIONING CONTROL, Fig.6.18 Positioning control of a complete round

6 POSITIONING CONTROL

Control using ABS , ABS (Absolute data method)

(1)Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address.

Forward direction	Operation by circular interpolation
	End address (X1, Y1)

Positioning speed

	Radius R
	Start point
Reverse	address (X0, Y0)
		Forward direction
direction
	Arc central point

Reverse direction (Note) : Indicates setting data

Fig.6.17 Circular interpolation control using absolute date method

(2)Positioning control of a complete round is possible in the central point-specified circular interpolation control.

Forward direction

Circular interpolation control

Arc central point

Reverse	Start address, end address
direction		Forward direction

Reverse direction

Fig.6.18 Positioning control of a complete round

(3)Setting range of end point address and arc central point is (-231) to (231-1).

(4)The maximum arc radius is (232-1).

231-1

Maximum arc

-231231-1

Arc central point Radius R

Fig.6.19 Maximum arc

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