MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 364)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
[2] 2-axis circular interpolation control with center point designation
(INC circular right, INC circular left)
Operation chart
In the incremental 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 a position at the end of the movement amount 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
Forward direction
Movement amount
to the end point
Start point address
(Current stop position)
Arc center point
(Arc address)
Movement amount to the end point
Reverse
direction
Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".
Arc center point
Reverese direction
Forward direction
(Arc address)
Reverese direction Forward direction
Movement amount = 0