Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, Fig.6.22 Maximum arc radius, Fig.6.21 Positioning control of a complete round

6 POSITIONING CONTROL

Control using INC , INC (Incremental method)

(1)Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0, 0) and central point.

Forward direction

Operation by circular interpolation (for INC )

				End point
		Positioning speed
	Start
Reverse	point			Forward direction
direction
			Arc central point
Home point
Reverse direction		(Note)	: Indicates setting data

Fig.6.20 Circular interpolation control using incremental data method (INC )

(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
	0
	0
Reverse	Start address, end address
		Forward direction
direction

Reverse direction

Fig.6.21 Positioning control of a complete round

(3)Setting range of travel value to end point address and arc central point is 0 to (231-1).

(4)The maximum arc radius is (231-1).

If the end point and central point are set more than a radius of (231-1), an error occurs at the start and error code [109] is stored in the data register.

231-1 Maximum arc

Arc central point

0

-231 231-1

Radius R

Fig.6.22 Maximum arc radius

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