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9 MAIN POSITIONING CONTROL
9.2.7 2-axis circular interpolation control with center point designation
In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC
right arc, ABS left arc, INC left arc), two motors are used to carry out position control in
an arc path centered around the center point specified by an arc address, while
carrying out interpolation for the axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control methods.
Control method Rotation direction
Arc center angle that
can be controlled
Positioning path
ABS right arc
Clockwise
0
°
<
360
°
Positioning path
0° <
360°
Center point
S
tart point
(
current stop
position)
End point
(positioning address)
INC right arc
ABS left arc
Counterclockwise
Center point
Positioning path
Start point
(current stop
position)
End point
(positioning address)
0°<
360°
INC left arc