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6 POSITIONING CONTROL
(4) The maximum arc radius is 2
31
-1.
If the end point and auxiliary point are set more than a radius of 2
31
-1, an error
occurs at the start and error code [107] is stored in the data register.
Maximum arc
2
31
-1-2
31
2
31
-1
0
Radius R
Arc central point
Fig.6.12 Maximum arc
[Program]
Program for auxiliary point-specified circular interpolation control is shown as the
following conditions.
(1) System configuration
Auxiliary point-specified circular interpolation control of Axis 1 and Axis 2.
Q61P Q02H
CPU
Q172H
CPU
Q172
LX
QX41
Positioning start command (PX000)
M
M
M
M
Motion CPU control module
Axis
4
Axis
1
Axis
2
Axis
3
AMP AMP AMP AMP
(2) Positioning details
The positioning uses the Axis 1 and Axis 2 servomotors.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
50000
30000
20000
10000 40000 80000
Auxiliary point (40000, 50000)
Positioning using the servo program No.31
Start point
(10000,
20000)
Arc central
point
0
End point (80000, 30000)
Axis 1 positioning direction
(Forward direction)