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6 POSITIONING CONTROL
6.6 Auxiliary Point-Specified Circular Interpolation Control
Circular interpolation control by specification of the end point address and auxiliary
point address (a point on the arc) for circular interpolation is executed.
Auxiliary point-specified circular uses ABS
(Absolute data method) and INC
(Incremental data method) servo instructions.
Items are set in peripheral devices
Common Arc Parameter block Others
Servo
instruction
Positioning
method
Number of
control axes
Parameter block No.
Axis
Address/travel value
Command s
p
eed
Dwell time
M-code
Tor
q
ue limit value
Auxiliar
y
p
oint
Radius
Central
p
oint
Control unit
S
p
eed limit value
Acceleration time
Deceleration time
Ra
p
id sto
p
deceleration time
Tor
q
ue limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
Allowable error ran
g
e for circular inter
p
olation
S-curve ratio
Cancel
WAT-ON/OFF
Speed change
ABS
Absolute
INC
Incremental
2
Valid
: Must be set
: Set if required
[Control details]
Control using ABS
(Absolute data method)
(1) Circular interpolation from the current stop address (address before positioning)
based on the home position through the specified auxiliary point address to the
end point address is executed.
(2) The center of the arc is the point of intersection of the perpendicular bisectors of
the start point address (current stop address) to the auxiliary point address, and
the auxiliary point address to the end point address.
Forward direction
Reverse
direction
End point address (X
1
, Y
1
)
Auxiliary point address (X
2
, Y
2
)
Arc central point
Operation by circular interpolation
0
Forward direction
Reverse direction
Start point address
(X
0
, Y
0
)
: Indicates setting data
(Note)
Fig.6.9 Circular interpolation control using absolute data method