Mitsubishi Electric MELSEC iQ-R Series User Manual page 98

Rotation angle of circular interpolation axis (X axis-Y axis)
The rotation angle of the circular interpolation axis in the 3-axis helical interpolation control is as follows.
True circle
Y axis
Number of pitch
0
1
2

n

999
The setting of the true circle is available only when "Start point = End point" is set for the 3-axis helical interpolation (ABS/INC,
center point).
When "degree" is set to "[Pr.1] Unit setting", the positioning range of the absolute system is 0 to 359.99999. If
the rotation angle is 360 or larger in the circular interpolation axis (X axisY axis), the tangent control and
normal line control cannot be performed because 360 or larger angle cannot be set for "[Da.6] Positioning
address/movement amount" of the linear interpolation axis (Z axis: degree). To perform the tangent control or
normal line control with the rotation of 360 or larger angle, use the incremental system.
Error compensation of the circular interpolation axis
In the 3-axis helical interpolation control with center point designation, as well as the 2-axis circular interpolation control,
"[Pr.41] Allowable circular interpolation error width" is enabled. When a circular interpolation error occurs, the path of the 2-
axis circular interpolation control (X axisY axis) becomes spiral as shown below.
Y axis
Circular
interpolation
error
3 MAJOR POSITIONING CONTROL
96
3.2 Setting the Positioning Data
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θ = 360°
Start point = End point
X axis
Control of the circular interpolation axis
True circle
360
720

360n

360999
End point
θ
Start point
X axis
search engine
Other than the true circle
Y axis
θ
Other than the true circle

360 + θ
720 + θ

360  n + θ

360  999 + θ
End point
Start point
X axis