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6 POSITIONING CONTROL
[Control details]
Details for the servo instructions are shown in the table below.
Instruction
Rotation direction of
the servomotors
Maximum controllable
angle of arc
Positioning path
ABS
INC
Clockwise
Positioning path
End point
Radius R
Central point
<180
Start
point
ABS
INC
Counter clockwise
0° <
< 180°
Central point
Radius R
Start
point
End point
Positioning path
<180
ABS
INC
Clockwise
Positioning path
180 <360
Central point
End point
Start point
Radius R
<
=
ABS
INC
Counter clockwise
180°
< 360°
Radius R
Start point
End point
Positioning path
Central point
180 <360
<
=
Control using ABS
, ABS , ABS , ABS (Absolute data method)
(1) Circular interpolation from the current stop address (address before positioning)
based on the home position to the specified end address with the specified radius
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 end address.
Forward direction
Positioning speed
Circular interpolation path
End address (X
1
, Y
1
)
Radius R
Arc central point
Reverse
direction
0
Start point
address (X
0
, Y
0
)
Forward direction
Reverse direction
: Indicates setting data
(Note)
Fig.6.13 Circular interpolation control using absolute data method
(3) The setting range of end point address is (-2
31
)
to (2
31
-1).