Mitsubishi Electronics QD75P, QD75D user manual Movement amount

9 MAJOR POSITIONING CONTROL

MELSEC-Q

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

Operation chart

In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point

address) to a position at the end of the movement amount 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 movement direction depends on

the sign (+ or -) of the movement amount.

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

Forward direction		Sub point address
			Movement by circular interpolation
		(arc address)
Movement amount	Start point		Movement amount
	address
to sub point			to the end point
			Arc center
Reverse direction		Movement	Forward direction
		amount to the
		sub point
		Movement amount to the end point

Reverse direction

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