# Mitsubishi Electric RD77MS2 User Manual Page 98

Melsec iq-r simple motion module.

• When the movement amount of the linear interpolation axis is more than the composite movement amount
of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8]
Speed limit value".
• When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite
speed" is set in "[Da.29] Interpolation speed designation method", the command speed of ABS3/INC3 is the
composite speed of the three axes (X axisY axisZ axis). The command speed of the 3-axis helical
interpolation control is the composite speed of the two axes (X axisY axis). When the continuous path
control is performed using ABS3/INC3 and the 3-axis helical interpolation control, the movement speed of
the workpiece may change at the positioning data switching; therefore, adjust the command speed not to
shake the workpiece.
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.
Y axis
Number of pitch
0
1
2
n
999
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.
Rotation direction when the linear interpolation axis (Z axis) is set in degrees
When "degree" is set to "[Pr.1] Unit setting" for the linear interpolation axis, the rotation direction is determined depending on
the axis control data in "[Cd.40] ABS direction in degrees" of the reference axis. To set a rotation direction for each positioning
data, set "[Da.28] ABS direction in degrees" of each positioning data.
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
End point
Start point
X axis
Control of the circular interpolation axis

360 + 
720 + 
360  n + 
360  999 + 

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