Local Coordinate System; Automatic Coordinate System Setting; Coordinate System For Rotation Axes - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Local coordinate system

This coordinate system is for specifying a coordinate system within the work coordinate system currently selected. With this,
the work coordinate system can be temporarily changed. Local coordinate systems can be independently specified on each
work coordinate system, for work coordinate system 1 to 6 (G54 to G59).
The home position of a local coordinate system is commanded by the distance from the home position of the specified work
coordinate system.
When in incremental value mode, the local coordinate home position is the position with the specified local coordinate offset
amount added to it.
When a work coordinate system has not been specified, the local coordinate system is created on the work coordinate system
currently selected.

Automatic coordinate system setting

When transitioning to G-code control, the basic machine coordinate system, and work coordinate system are automatically
set according to parameters set beforehand.
The coordinate systems created by automatic coordinate system setting are as follows.
• Basic machine coordinate system
• Work coordinate system (G54 to G59)
Parameters related to coordinates are all set by the distance from the home position of basic machine coordinate system.
When automatic coordinate system setting is executed, local coordinate system setting by G52 command is cancelled.

Coordinate system for rotation axes

Axes with the G-code control axis parameter "Rotation axis" set to "1: Rotation axis" are controlled with the coordinate system
for rotation axes.
The types of rotation axes are rotation type (shortcut valid/invalid), and linear type. Set each axis type in [Motion Control
Parameter][G-code Control Parameter][G-code Control Axis Parameter]"Rotation Axis Information""Rotation Axis
Type".
The machine position and relative position differs according to the parameter.
Rotation axes are commanded in [degree] units.
When restricting the movement range, set the G-code control axis parameter "Rotation axis type" to "3: All linear coordinates",
and set the stored stroke limit. When not restricting the movement range, set the G-code control axis parameter "Rotation axis
type" to "0: Shortcut invalid" or "1: Shortcut valid", and set the stored stroke limit upper value and lower value to the same
value. Refer to stored stroke limit for details of stored stroke limit. (Page 84 Stored stroke limit)
Work coordinate position
Machine position/Relative
position
ABS command
INC command
Stored stroke limit setting
range
5 G-CODE CONTROL PROGRAMS
98
5.5 Coordinate System
Rotation axis
Rotation axis type
Shortcut invalid Shortcut valid
0 to 359.9999[degree]
0 to 359.9999[degree]
Moves in direction of the sign Moves the shortest way to the
for the remainder of the end point.
movement amount of the end
point minus the current
position divided by
360[degree].
Moves in the direction of the sign for the incremental amount commanded with the current position as the origin.
Set the upper limit value and lower limit value to the same
value.
Linear axis
Linear type
All linear coordinates
-9999.9999 to 9999.9999 -9999.9999 to 9999.9999[mm]
[degree]
-9999.9999 to 9999.9999 -9999.9999 to 9999.9999[mm]
[degree]
Same as a normal linear axis. Moves in the direction of the sign
for the movement amount of the end point minus the current
position without rounding to 360[degree].
-9999.9999 to 9999.9999 -9999.9999 to 9999.9999[mm]
[degree]