Mitsubishi Electronics QD75D, QD75P 9.2.10 2-axis circular interpolation control with sub point designation, [1] 2-axis circular interpolation control with sub point designation (ABS circular sub)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.10 2-axis circular interpolation control with sub point designation
In "2-axis circular interpolation control" ( " Da.2 Control system " = ABS circular sub,
INC circular sub), two motors are used to carr y out position control in an arc path
passing through designated sub points, while car rying 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 su b 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 (s tart 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 po int
address set in " Da.7 Arc addres s".
The resulting control path is an arc having as its center the intersecti on point of
perpendicular bisectors of a straight line between the start point ad dress (current
stop position) and sub point address (arc address), and a straight line bet ween the
sub point address (arc address) and end point address (positioning addr ess).
OP
Reverse direction
Forward direction
Arc center point
Movement by circular interpolation
Forward direction
End point address
(arc address) (positioning address)
Start point address
(current stop position)
Reverse direction
Sub point address