Mitsubishi Electric MELSEC iQ-R Series User Manual page 233

Details of setting items
■ContinuousUpdate (Continuous update)
Continuous update of the FB enables to import input variables again without interrupting the operation to the instance in
execution.
Input variables that can be change in restart/continuous update are Position/Distance, Velocity, Acceleration, and
Deceleration.
For details, refer to the following.
Page 106 Retrigger/Continuous Update, Page 293 RELEVANT FUNCTIONS TO VELOCITY
■CircAxes (Circular interpolation axis)
In circular interpolation control, circular interpolation can be executed by using arbitrary two axes from the configuration axes
set to the axes group.
Set configuration axes to perform circular interpolation by the CircAxes input from the configuration axes of the axes group.
The CircAxes input has two array elements. For the array, specify the index Nos. (1 to 16: configuration axis 1 to configuration
axis 16) of configuration axes to be used for interpolation control. The first element of the array is regarded as the reference
axis.
• If a configuration axis which is not set an axis is specified, an error occurs.
Ex.
When setting configuration axis 2, 3 to the circular interpolation axes
CircAxes: [2 3]
■CircMode (Circular interpolation mode)
In circular interpolation control, three types of the circular interpolation methods, the border point designation, the center point
designation, and the radius designation, can be specified by inputting CircMode. The definition of AuxPoint input differs
depending on the CircMode input.
Setting value Circular interpolation
mode name
0: mcBorder Border point designation
1: mcCenter Center point designation
2: mcRadius Radius designation
• Circular interpolation control with border point designation
When selecting "0: mcBorder" in the CircMode input, positioning control is carried out in an arc path passing through the
specified border point by using two configuration axes specified to CircMode.
AuxPoint (Sub point)
AuxPoint input defines the border point on the arc connecting the start point and the end point.
AuxPoint input defines the center point of the arc.
AuxPoint input defines the radious of the arc.
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
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