Mitsubishi Electric MELSEC iQ-R Series User Manual page 77

4-axis linear interpolation control (INC linear 4)
In the incremental system 4-axis linear interpolation control, the designated 4 axes are used. Linear interpolation positioning
is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
■Restrictions
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning operation.
• If the movement amount of each axis exceeds "1073741824 ( = 2
(error code: 1B15H, 1B16H) occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6]
Positioning address/movement amount" is "1073741824 ( = 2
■Setting positioning data
When using 4-axis linear interpolation control (INC linear 4), set the following positioning data.
: Always set, : Set as required, : Setting restricted, : Setting not required
Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
[Da.6] Positioning address/movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time/JUMP destination positioning data No.
[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches
[Da.20] Axis to be interpolated No.1
[Da.21] Axis to be interpolated No.2
[Da.22] Axis to be interpolated No.3
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed designation method
Refer to the following for information on the setting details.
Page 452 Positioning data
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• When the "reference axis speed" is set during 4-axis linear 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".
• Refer to Page 57 Interpolation control for the reference axis and interpolation axis combinations.
search engine
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)", the error "Outside linear movement amount range"
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Setting required/not
required for the
reference axis


(Set INC linear 4.)
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











3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
Setting required/not
required for the
interpolation axis















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