Proximity Pass Function; Joint Remaining Distance Method (End Point Distance) - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

9.2

Proximity Pass Function

The proximity pass function is for smooth continuous operation between interpolation operations when performing
consecutive interpolation operations. For the operation of the proximity pass function, set proximity pass(b3) of the expansion
point item setting ON, and set the proximity pass method, and proximity range in the machine positioning data of each point.
Proximity pass method and setting range are shown below. Refer to machine positioning data for proximity pass. (Page
55 Machine Positioning Data)
Proximity pass method
0: Invalid
1: JOINT remaining distance
method (end point distance)

JOINT remaining distance method (end point distance)

Control
• When performing JOINT remaining distance method proximity pass, set "1: JOINT remaining distance method (end point
distance)" to proximity pass method, and "radius(proximity range) of the arc that determines movement trajectory" to the
proximity range.
P2
Proximity range
Program
A1
trajectory
P1
• When the proximity range is set to "0", the proximity range set at the previous point is used. However, when there is no
setting for proximity range from the start of the program, "proximity range=0" and proximity pass is not performed.
Proximity pass method
0: Invalid
1: JOINT remaining distance
method (end point distance)
• When the proximity range setting is outside of range, a warning (error code: 0EE0H(details code: 003CH)) occurs, and
machine program operation continues using the proximity range setting from the previous point.
• When not using proximity pass, set the proximity pass method to "0: Invalid".
Set the proximity range (radius of the arc) so that it does not overlap with the proximity range of other points.
If the proximity range settings overlap, the movement amounts are composited and the control may pass
through an unintended trajectory.
Proximity range
0
0 to 2147483647[interpolation control units]
A3
P3
A2
Movement
trajectory
When proximity pass is enabled in a program that passes
through P1-P2-P3, movement to P3 starts from point A1.
Proximity range
0
0
1 to 2147483647[interpolation control units]
Operation
Proximity operation is not performed.
The proximity range set at the previous point is used.
The proximity range set at the passing point is used.
9 AUXILIARY AND APPLIED FUNCTIONS
9.2 Proximity Pass Function
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