Auxiliary Function; Polar Coordinate Interpolation; High-Accuracy Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Minimum rotating movement amount
Set the minimum movement amount of the block that performs a rotation operation at the joint directly before, during normal
line control.
Normal line control axis rotating radius
Set the length from the center of the normal line control axis to the tip of the tool.
Used to calculate the rotating speed of the block joint, and during circular interpolation.
Normal line control axis rotating radius is enabled for normal line control type .
Normal line control axis insert radius
Set the radius of the arc to be automatically inserted in the corner during normal line control. Normal line control axis insert
radius is enabled for normal line control type .

Auxiliary function

M binary
Set whether to output auxiliary function (M function) in BCD, or binary (signed or unsigned).

Polar coordinate interpolation

Polar coordinate interpolation linear axis
Set the name of the linear axis performing polar coordinate interpolation.
When the axis of the specified name has not been set, a moderate error (error code: 30FDH (details code:0013H)) occurs.
For polar coordinate interpolation linear axis, set the axis name of the linear axis. When an axis name of a rotating axis is set,
a moderate error (error code: 30FDH (details code: 0014H)) occurs.
Set the axis names set to "Base axis I", "Base axis J", and "Base axis K". When the set axis name is not set to "Base axis I",
"Base axis J", and "Base axis K", a moderate error (error code: 30FDH (details code: 0014H)) occurs.
Set both the polar coordinate interpolation linear axis and polar coordinate interpolation rotating axis. When only one is set, a
moderate error (error code: 30FDH (details code: 0013H)) occurs.
Polar coordinate interpolation rotating axis
Set the name of the rotating axis performing polar coordinate interpolation.
When the axis of the specified name has not been set, a moderate error (error code: 30FDH (details code:0013H)) occurs.
For polar coordinate interpolation rotating axis, set the axis name of the rotating axis. When an axis name of a linear axis is
set, a moderate error (error code: 30FDH (details code: 0014H)) occurs.
Set the axis names not set in the following. When the set axis name is set in the following, a moderate error (error code:
30FDH (details code: 0014H)) occurs.
• Base axis I, Base axis J, and Base axis K
• Normal line control axis
Set both the polar coordinate interpolation linear axis and polar coordinate interpolation rotating axis. When only one is set, a
moderate error (error code: 30FDH (details code: 0013H)) occurs.

High-accuracy control

Acceleration/deceleration before interpolation - maximum speed
Set the cutting feed speed for acceleration/deceleration before interpolation.
When the value set to G-code control axis parameter "Cutting feed clamp speed for high-accuracy control mode", or G-code
control system parameter "acceleration/deceleration before interpolation - maximum speed" is larger than the value set to G-
code control axis parameter "Cutting feed clamp speed", a moderate error (error code: 30FDH (details code: 0015H)) occurs.
4 G-CODE CONTROL PARAMETERS
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4.1 G-Code Control System Parameter