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6 POSITIONING CONTROL
6.8 Central Point-Specified Circular Interpolation Control
Circular interpolation control by specification of the end point for circular interpolation
and arc central point is executed.
Central point-specified circular interpolation control uses ABS
and ABS (Absolute
data method) and INC
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 units
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
WAIT-ON/OFF
Speed change
ABS
ABS
Absolute
INC
INC
Incremental
2
Valid
: Must be set
: Set if required
[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
Start point End point
Central point
0 < <360
ABS
INC
Counter clockwise
0° <
< 360°
Central point
Start point End point
Positioning path
0 < <360