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6 POSITIONING CONTROL
(3) The setting range of the end point address and auxiliary point address is (-2
31
)
to
(2
31
-1).
(4) The maximum arc radius is 2
32
-1.
Maximum arc
Arc central point
Radius R
2
31
-1
-2
31
0
2
32
-1
Fig.6.10 Maximum arc
Control using INC
(Incremental data method)
(1) Circular interpolation from the current stop address 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
Positioning speed
End point
Travel
value to
auxiliary
point
Start point
Home
position
Y
1
Y
2
X
1
X
2
Travel
value to
end point
Travel value to end point
Travel value to auxiliary
point
Forward direction
Reverse
direction
: Indicates setting data
(Note)
Auxiliary point
Arc central point
Fig.6.11 Circular interpolation control using incremental data method
(3) The setting range for the travel value to the end point address and auxiliary point
address is 0 to
(2
31
-1).