2-Axis Circular Interpolation Control With Sub Point Designation - Mitsubishi Electric MELSEC iQ-R Series User Manual

2-axis circular interpolation control with sub point designation

In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to
carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis
directions set in each axis. (Refer to Page 57 Interpolation control for details on interpolation control.)
2-axis circular interpolation control with sub point designation (ABS circular sub)
■Operation chart
In the absolute system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the
current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement
amount", in an arc path that passes through the sub point address set in "[Da.7] Arc address".
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line
between the start point address (current stop position) and sub point address (arc address), and a straight line between the
sub point address (arc address) and end point address (positioning address).
Forward direction
Reverse direction
Home position
Reverse direction
■Restrictions
2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in "[Pr.1] Unit setting"
• When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis ("mm" and "inch"
combinations are possible)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
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 control.
Error cause
When the radius exceeds 536870912 (= 2
the 2-axis circular interpolation control is possible is 536870912 (= 2
When the center point address is out of the range of -2147483648 (-2
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2147483647 (2 -1)
Start point address = End point address
Start point address = Sub point address
End point address = Sub point address
When the start point address, sub point address, and end point address are
on a straight line
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Movement by circular interpolation
Sub point address
(arc address)
Start point address
(current stop position)
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) (The maximum radius for which
search engine
End point address
(positioning address)
Arc center point
Forward direction
Error code
The error "Outside radius range" (error code: 1B32H) occurs at the start of the
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).) positioning.
31
) to The error "Sub point setting error" (error code: 1B37H) occurs at the start of
the positioning.
The error "End point setting error" (error code: 1B2BH)
The error "Sub point setting error" (error code: 1B27H)
The error "Sub point setting error" (error code: 1B28H)
The error "Sub point setting error" (error code: 1B29H)
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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