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9 MAIN POSITIONING CONTROL
In circular interpolation control with center point designation, an angular velocity is
calculated on the assumption that operation is carried out at a command speed on the
arc using the radius calculated from the start point address and center point address,
and the radius is compensated in proportion to the angular velocity deviated from that
at the start point.
Thus, when there is a difference (error) between a radius calculated from the start
point address and center point address (start point radius) and a radius calculated from
the end point address and center point address (end point radius), the composite
speed differs from the command speed as follows.
* Start point radius > End point radius: As compared with the speed without error, the
speed becomes slower as end point address is
reached.
* Start point radius < End point radius: As compared with the speed without error, the
speed becomes faster as end point address is
reached.
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
When "degree" is set in " Pr.1 Unit setting"
When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
In case radius is over than "536870912(=2
29
)" which is the maximum and
acceptable radius for circular interpolation control, or in case the end address
is outside the scope of "-2147483648(-2
31
) to 2147483647(2
31
-1)".
... An error "end point setting error" (error code:526) or "outside
radiusrange" (error code: 544) will occur at positioning start.
When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
Positioning data setting examples
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (INC right arc, INC left arc)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)