Mitsubishi Electric MELSEC iQ-R Series User Manual page 83

2-axis circular interpolation control with sub point designation (INC circular sub)
■Operation chart
In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the
current stop position (start point address) to a position at the end of the movement amount 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 movement
direction depends on the sign (+ or -) of the movement amount.
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line
between the start point address (current stop position) and sub point address (arc address) calculated from the movement
amount to the sub point, and a straight line between the sub point address (arc address) and end point address (positioning
address) calculated from the movement amount to the end point.
Movement
amount to
the sub point
Reverse direction
■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"
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
Error cause
When the radius exceeds 536870912 (= 2
the 2-axis circular interpolation control is possible is 536870912 (= 2
When the sub point address is out of the range of -2147483648 (-2
31
2147483647 (2 1)
When the end point address is out of the range of -2147483648 (-2
31
2147483647 (2 1)
When the center point address is out of the range of -2147483648 (-2
31
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
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Forward direction
Sub point address
(arc address)
Start point
address
Movement
amount to
the sub point
Movement amount to the end point
Reverse direction
29
) (The maximum radius for which
search engine
Movement by circular interpolation
Movement amount
to the end point
Arc center
Forward direction
Error code
The error "Outside radius range" (error code: 1B32H) occurs at the start of the
29
).) positioning.
31
) to The error "Sub point setting error" (error code: 1B2AH)
31
) to The error "End point setting error" (error code: 1B2CH)
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)
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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