Mitsubishi Electric MELSEC Q Series Programming Manual page 234

6 POSITIONING CONTROL
[Control details]
Instruction
Details for the servo instructions are shown in the table below.
Rotation direction of
the servo motors
ABS
Clockwise
INC
ABS
Counter clockwise
INC
ABS
Clockwise
INC
ABS
Counter clockwise
INC
Control using ABS
(1) Circular interpolation from the current stop address (address before positioning)
based on the home position to the specified end address with the specified radius
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 end address.
Reverse
direction
Reverse direction
Fig.6.13 Circular interpolation control using absolute data method
(3) The setting range of end point address is (-2
Maximum controllable
angle of arc
0° < < 180°
180° 
, ABS , ABS , ABS
Forward direction
Positioning speed
Radius R
Start point
address (X , Y )
0 0
0
6 - 47
Positioning path
Start
<180
point
Radius R
Radius R
<180
Start
point
180 < <360
Radius R
Start point
< 360°
Start point
Radius R
180 <
(Absolute data method)
Circular interpolation path
End address (X
Arc central point
Forward direction
(Note)
: Indicates setting data
31 ) to (2 31 -1).
Positioning path
End point
Central point
Central point
End point
Positioning path
Positioning path
Central point
End point
End point
Central point
<360
Positioning path
, Y )
1 1