Mitsubishi QD75P1N User Manual page 340

9 MAJOR POSITIONING CONTROL
Starting the interpolation control
The positioning data Nos. of the reference axis (axis in which interpolation control
was set in " Da.2 Control system") are started when starting the interpolation
control. (Starting of the interpolation axis is not required.)
The following errors or warnings will occur and the positioning will not start if both
reference axis and the interpolation axis are started.
• Reference axis : The error "Interpolation while interpolation axis BUSY"
•
Interpolation axis : The error "Control system setting error" (error code: 524),
Interpolation control continuous positioning
When carrying out interpolation control in which "continuous positioning control"
and "continuous path control" are designated in the operation pattern, the
positioning method for all positioning data from the started positioning data to the
positioning data in which "positioning complete" is set must be set to interpolation
control.
The number of the interpolation axes and axes to be interpolated cannot be
changed from the intermediate positioning data. An error "Control system setting
error" (error code: 524) will occur and the positioning will stop if setting, which
changes the number of the interpolation axes and axes to be interpolated, is
carried out.
Speed during interpolation control
Either the "composite speed" or "reference axis speed" can be designated as the
speed during interpolation control.
Pr.20
( Interpolation speed designation method)
Only the "Reference axis speed" can be designated in the following interpolation
control.
When a "composite speed" is set and positioning is started, the error "Interpolation
mode error" (error code: 523) occurs, and the system will not start.
• 4-axis linear interpolation
• 2-axis speed control
• 3-axis speed control
• 4-axis speed control
Cautions in interpolation control
(1) If a stepping motor is used, the circular interpolation control cannot be carried
out.
Ensure to use a servomotor when the circular interpolation control is carried
out.
(2) If either of the axes exceeds the "
speed control, the axis which exceeded the speed limit value is controlled by
the speed limit value.
For the other axes which perform interpolation, the speed can be suppressed
by the ratio of a command speed.
If the reference axis exceeds "
linear interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular
interpolation control, the reference axis is controlled at the speed limit value.
(The speed limit does not function on the interpolation axis side.)
(3) In 2-axis interpolation, you cannot change the combination of interpolated axes
midway through operation.
(error code: 519)
The warning "Start during operation" (warning code: 100)
Pr.8
Speed limit value" in the 2 to 4 axes
Pr.8 Speed limit value" during 2- to 4-axis
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