Mitsubishi Electric MELSEC iQ-R Series User Manual page 101

3-axis helical interpolation control with center point designation (INC helical right, INC
helical left)
■Operation chart
In the incremental system and 3-axis helical interpolation control with center point designation, the positioning is performed
from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning
address/movement amount". As the positioning to the commanded position, the linear interpolation with the other linear
interpolation axes is performed and the positioning target is rotated helically for the number of pitches set in "[Da.10] M code/
Condition data No./Number of LOOP to LEND repetitions/Number of pitches" of the linear interpolation axis while the circular
interpolation of the circle whose center is the center point address (arc address) set in "[Da.7] Arc address" is performed.
Operation chart
Z axis
Y axis
X axis
If "0" is set for the movement amount of the circular interpolation axis, the positioning of a true circle whose radius is from the
start point address to the center point address of the arc can be performed.
Operation chart
Z axis
Y axis
X axis
■Restrictions
In the following cases, the 3-axis helical interpolation control cannot be set.
• When "degree" is set in "[Pr.1] Unit setting" of the reference axis and circular interpolation axis
• When the units set in "[Pr.1] Unit setting" are different between the reference axis and circular interpolation axis (The
combination of "mm" and "inch" is possible.)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
• When the value out of the range of "0 to 999" is set in the number of pitches ("[Da.10] M code/Condition data No./Number
of LOOP to LEND repetitions/Number of pitches")
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
Error cause
When the radius exceeds 536870912 (= 2
the 2-axis circular interpolation control is possible is 536870912 (= 2
When the end point address is out of the range of -2147483648 (-2
31
2147483647 (2 -1)
Start point address = Center point address
End point address = Center point address
When the center point address is out of the range of -2147483648 (-2
31
2147483647 (2 -1)
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2-axis circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitches
Linear movement amount
2-axis circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
2-axis circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitches
Linear movement amount
2-axis circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
29
) (The maximum radius for which
search engine
Top view of the circular interpolation
Movement amount
Movement
to the end point
amount to
the center
Radius
Top view of the circular interpolation
Radius
Error code
The error "Outside radius range" (error code: 1B32H) occurs at the start of the
29
).) positioning.
31
) to The error "End point setting error" (error code: 1B2CH) occurs at the start of
the positioning.
The error "Center point setting error" (error code: 1B2DH)
The error "Center point setting error" (error code: 1B2EH)
31
) to The error "Center point setting error" (error code: 1B2FH)
2-axis circular interpolation control
end point (X1, Y1)
Center point
2-axis circular interpolation control
start point (X0, Y0)
Center point
2-axis circular interpolation control start point (X0, Y0)
2-axis circular interpolation control end point (X1, Y1)
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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