Mitsubishi Electronics QD75D, QD75P user manual axis circular interpolation control

9 MAJOR POSITIONING CONTROL

9.2.10 2-axis circular interpolation control with sub point designation

MELSEC-Q

In "2-axis circular interpolation control" ("

Da.2

Control system" = ABS circular sub,

INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.

(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

[1]2-axis circular interpolation control with sub point designation (ABS circular sub)

Operation chart

In the absolute system, 2-axis circular interpolation control with sub point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point

address) to the address (end point address) set in "

Da.6

Positioning

address/movement amount", in an arc path that passes through the sub point

address set in "

Da.7

Arc address".

The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line between the start point address (current stop position) and sub point address (arc address), and a straight line between the sub point address (arc address) and end point address (positioning address).

Forward direction

	Movement by circular interpolation
Sub point address
(arc address)	End point address
	(positioning address)
Start point address	Arc center point
(current stop position)
Reverse direction	Forward direction
OP

Reverse direction

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