Mitsubishi Electric MELSEC iQ-R Series User Manual page 241

■EndPoint (End point)
Set the end point position of the absolute position or the movement amount from the current position at start to the end point
by the EndPoint input. EndPoint has 16 array elements.
EndPoint[0..N] indicates the end point of the configuration axis 1 to N.
• EndPoint inputs for the configuration axes which are not set to the circular interpolation axis are ignored.
• EndPoint inputs after all of the configuration axes which are set to the circular interpolation axis can be omitted.
■PathChoice (Path selection)
Set rotation direction in circular interpolation. For rotation direction, the first element of the array set in CircAxes (circular
interpolation axis) is regarded as the reference axis.
■Velocity (Velocity)
Specify the maximum speed of the way. For details, refer to the following.
Page 210 Positioning speed in multiple axes positioning control
■Acceleration (Acceleration)
Specify the acceleration. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■Deceleration (Deceleration)
Specify the deceleration. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■Jerk (Jerk)
Specify the jerk. The setting details differ depending on the acceleration/deceleration method. For details, refer to the
following.
Page 293 Acceleration/deceleration Processing Function
■CircularErrorTolerance (Circular interpolation error tolerance)
In circular interpolation control with center point designation, the arc path calculated from the start position and center position
may deviate from the end position set in EndPoint.
CircularErrorTolerance sets allowable width of an error between the calculated arc path and the end position.
• Calculated error  CircularErrorTolerance
Circular interpolation control to the set end point address is carried out while the error compensation is carried out by spiral
interpolation.
Path using spiral interpolation
Error
Start point address Center point address
• Calculated error > CircularErrorTolerance
At the positioning start, the error "Circular Interpolation Error Allowable Value Over" (error code: 1A71H) will occur and the
control will not start. The machine will immediately stop if the error is detected during positioning control.
Calculated end point address
End point address
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
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