Mitsubishi Electric MELSEC iQ-R Series User Manual page 209

MCv_MoveCircularInterpolateRelative
Item Description
Function overview Executes positioning by 2-axis circular interpolation by using arbitary configuration axes of set axes group, and by using the
relative position from the specified current position at start to the end point and the sub point.
Symbol
[Structured Ladder]
Applicable hardware and RD78G(H) (Structured Text)
software (Language)
Number of input area points
(byte)
328
■I/O variable
Input import : At start
Name Variable
name
Axes AxesGroup
groupinformatio
n
■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name Variable
name
Start Execute
Continuous ContinuousUpd
update ate
Circular CircAxes
interpolation
axis
Circular CircMode
interpolation
mode
MCv_MoveCircularInterpolateRelative
DUT : AxesGroup
B : Execute
B : ContinuousUpdate
W[ ] : CircAxes
ENUM : CircMode
L[ ] : AuxPoint
L[ ] : EndPoint
ENUM : PathChoice
L : Velocity
L : Acceleration
L : Deceleration
L : Jerk
L : CircularErrorTolerance
ENUM : BufferMode
UD : Options
Number of output area points
(byte)
8
Data type Input Setting range
import
 
AXES_GROUP
_REF
Data type Import Setting range
 
BOOL


BOOL

INT[1..2] 1 to 16

MC_CIRC_MO 0 to 2
DE
AxesGroup : DUT
Done : B
Busy : B
Active : B
CommandAborted : B
Error : B
ErrorID : UW
Compiling method
Subroutine type
Default Description
value
Page 574 Axes group variables
Omission
not possible
Default Description
value
FALSE When TRUE, it executes the FB.
FALSE During TRUE, it reflects intput of the import "C".
0 Specifies axes to be used in circular interpolation
control from the configuration axes.
Specifies the index No. (1 to 16) of the
configuration axes in array.
The first element of the array is regarded as the
reference axis.
0 Sets circular interpolation mode.
0: mcBorder (Border point designation)
AuxPoint input defines a point on the arc
connecting the start point and the end point.
1: mcCenter (Center point designation)
AuxPoint input defines the center point of the
circle.
2: mcRadius (Radius designation)
AuxPoint input defines the radius of the circle.
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
FB operation type
Real-time execution
207
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