Mitsubishi Electric MELSEC iQ-R Series User Manual page 61

Interpolation control continuous positioning
When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated
in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data
in which "positioning complete" is set must be set to interpolation control.
The number of the interpolation axes and axes to be interpolated cannot be changed from the intermediate positioning data.
When the number of the interpolation axes and axes to be interpolated are changed, the error "Control method setting error"
(error code: 1B25H) will occur and the positioning will stop.
Speed during interpolation control
Either the "composite speed" or "reference axis speed" can be designated as the speed during interpolation control.
([Pr.20] Interpolation speed designation method)
Only the "Reference axis speed" can be designated in the following interpolation control.
When a "composite speed" is set and positioning is started, the error "Interpolation mode error" (error code: 1A9AH) occurs,
and the system will not start.
• 4-axis linear interpolation
• 2-axis speed control
• 3-axis speed control
• 4-axis speed control
Cautions
• If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis exceeding the speed limit value is
controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the command
speed ratio.
• If the reference axis exceeds "[Pr.8] Speed limit value" during 2-axis circular interpolation control, the reference axis is
controlled with the speed limit value. (The speed limit does not function on the interpolation axis side.)
• If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis linear interpolation control or 2- to 4-axis fixed-feed control,
the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the other axes being
interpolated are suppressed by the movement amount ratio.
• In the 3-axis helical interpolation control, the composite speed of the circular interpolation axis or the speed of the linear
interpolation axis is controlled not to exceed "[Pr.8] Speed limit value". (However, when the movement amount of the linear
interpolation axis is more than the composite movement amount of the circular interpolation axis, such as when the number
of pitches ("[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches") set in the linear
interpolation axis is less, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value".)
• In 2- to 4-axis interpolation, you cannot change the combination of interpolated axes midway through operation.
When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed "[Pr.8]
Speed limit value".
Downloaded from ManualsNet.com search engine
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
3
59