MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 361)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
[1] 2-axis circular interpolation control with center point designation
(ABS circular right, ABS circular left)
Operation chart
In the absolute system, 2-axis circular interpolation control with center 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 having as its center the address (arc
address) of the center point set in " Da.7 Arc address".
Radius
Movement by circular interpolation Forward direction
Reverse direction
End point address
Start point address
(current stop position)
Arc address
Forward direction Reverse direction
(positioning address)
Positioning of a complete round with a radius from the start point address to the
arc center point can be carried out by setting the end point address (positioning
address) to the same address as the start point address.
Arc center point
Reverese direction
Forward direction
(Arc address)
(current stop position)
Start point address
=
Reverese direction Forward direction
End point address
(positioning address)