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9.2.10
2-axis circular interpolation control with sub point
designation
In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are
used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation
for the axis directions set in each axis. (Refer to Page 359, Section 9.1.6 for details on interpolation control.)
(1) 2-axis circular interpolation control with sub point designation (ABS circular
sub)
(a) Operation chart
In the absolute system, 2-axis circular interpolation control with sub point designation, positioning is carried out
from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning
address/movement amount" in an arc path that passes through the sub point address set in " Da.7 Arc
address".
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a
straight line between the start point address (current stop position) and sub point address (arc address), and a
straight line between the sub point address (arc address) and end point address (positioning address).
Reverse direction
(b) Restrictions
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 "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
Forward direction
Sub point address
(arc address)
Start point address
(current stop position)
OP
Reverse direction
CHAPTER 9 MAJOR POSITIONING CONTROL
Movement by circular interpolation
End point address
(positioning address)
Arc center point
Forward direction
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