Mitsubishi Electric MELSEC Q Series Programming Manual page 229

6 POSITIONING CONTROL
(3) The setting range of the end point address and auxiliary point address is (-2
(2 -1).
31
(4) The maximum arc radius is 2
Arc central point
Control using INC (Incremental data method)
(1) Circular interpolation from the current stop address through the specified auxiliary
point address to the end point address 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 auxiliary point address, and
the auxiliary point address to the end point address.
Forward
direction
Travel
value to
end point
Reverse
direction
Home
position
Fig.6.11 Circular interpolation control using incremental data method
(3) The setting range for the travel value to the end point address and auxiliary point
address is 0 to (2
-1.
32
2 -1
31
0
-2
31
Radius R
Fig.6.10 Maximum arc
Positioning speed
Y
1
Y
2
Travel
Auxiliary point
value to
auxiliary
point
X
2
Start point
Travel value to auxiliary
point
Travel value to end point
31 -1).
6 - 42
Maximum arc
2 -1
31
End point
X
1
Arc central point
Forward direction
(Note) : Indicates setting data
) to
31