Mitsubishi Electric MELSEC iQ-R Series User Manual page 92

3-axis helical interpolation control with sub point designation (ABS helical sub)
■Operation chart
In the absolute system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the
current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear
interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount". As the positioning to the
commanded position, the linear interpolation with the other linear interpolation axes is performed and the positioning target is
rotated helically for the number of pitches set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches" of the linear interpolation axis while the circular interpolation through the sub point address (sub point
address) set in "[Da.7] Arc address" is performed.
The resulting path is an arc whose center is the intersection point of the 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).
Operation chart
Linear
movement
amount
Z axis
Y axis
X axis
Arc sub point
■Restrictions
In the following cases, the 3-axis helical interpolation control cannot be set.
• When "degree" is set in "[Pr.1] Unit setting" of the reference axis and circular interpolation axis
• When the units set in "[Pr.1] Unit setting" are different between the reference axis and circular interpolation axis (The
combination of "mm" and "inch" is possible.)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
• When the value out of the range of "0 to 999" is set in the number of pitches ("[Da.10] M code/Condition data No./Number
of LOOP to LEND repetitions/Number of pitches")
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
Error cause
When the radius exceeds 536870912 (= 2
the 2-axis circular interpolation control is possible is 536870912 (= 2
When the center point address is out of the range of -2147483648 (-2
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2147483647 (2 -1)
Start point address = End point address
Start point address = Sub point address
End point address = Sub point address
When the start point address, sub point address, and end point address are
on a straight line
3 MAJOR POSITIONING CONTROL
90
3.2 Setting the Positioning Data
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2-axis circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Number of pitches
2-axis circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
29
) (The maximum radius for which
search engine
Top view of the circular interpolation
Arc sub
point
Error code
The error "Outside radius range" (error code: 1B32H) occurs at the start of the
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).) positioning.
31
) to The error "Sub point setting error" (error code: 1B37H) occurs at the start of
the positioning.
The error "End point setting error" (error code: 1B2BH)
The error "Sub point setting error" (error code: 1B27H)
The error "Sub point setting error" (error code: 1B28H)
The error "Sub point setting error" (error code: 1B29H)
2-axis circular interpolation
control end point (X1, Y1)
Center point
2-axis circular interpolation
control start point (X0, Y0)