Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
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7.8 Circular Interpolation Using Center Point Designation
Circular interpolation control by designating the end point and arc center point.
Circular interpolation control using center point designation uses ABS
and
ABS
(absolute data method) and INC and INC (incremental method)
servo instructions.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No. Axis Address/Travel Value Commanded Speed Dwell Time M Code Torque Limit Value Auxiliary Point Radius Center Point Control Units Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation S-Curve Ratio Cancel Start Speed Change
ABS
ABS
Absolute data
INC
INC
Incremental
2 ∆ !!! ∆∆ ! ∆∆∆∆∆∆∆∆∆∆∆OK
! : Must be set
∆ : Set if required
[Control Details]
Details of control with the servo instructions are shown in the table below.
Instruction
Servomotor
Direction of
Rotation
Max.
Controllable
Angle of Arc
Positioning Path
ABS
INC
Clockwise
Positioning
path
End point
Center point
Start point
θ
<360
°
0
°
<
ABS
INC
Counterclockwise
0° < θ < 360°
Positioning
p
ath
End point
Center point
Start point
θ
<360
°
0
°
<

Mitsubishi Electric A173UHCPU Specifications

General

Brand	Mitsubishi Electric
Model	A173UHCPU
Category	Control Unit
Language	English