2-Axis Circular Interpolation Control With The Sub Point Specified - Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual

2-axis circular interpolation control with the sub point specified

In the 2-axis circular interpolation control ([Da.2] Control method = ABS circular sub, INC circular sub), two motors are used to
perform the position control in an arc path passing through specified sub points, while the interpolation is performed for the
axis directions set in each axis.
For details on the interpolation control, refer to the following.
Page 77 Interpolation control
2-axis circular interpolation control with sub point specified (ABS circular sub)
■Operation chart
In the absolute system and 2-axis circular interpolation control with sub point specified, the positioning is performed 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 passing through the sub point address (sub point address) set in [Da.7] Arc address.
The resulting control path is an arc whose center is the intersection point of the 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
Sub point address
(arc address)
Start point address
(current stop position)
Reverse direction
OP
Reverse direction
■Restrictions
In the following cases, the 2-axis circular interpolation control cannot be set.
• When Degree is set in [Pr.1] Unit setting
• When the units set in [Pr.1] Unit setting are different between the reference axis and interpolation axis (The combination of
mm and inch is possible.)
• When Reference axis speed is set in [Pr.20] Interpolation speed specification method
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
Error cause
When the radius exceeds 536870912 (= 2
the circular interpolation control is possible is 536870912 (= 2
When the center point address is out of the range of -2147483648 (-2
31
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
Movement by circular interpolation
Arc center point
29
) (The maximum radius for which
29
).)
31
) to
End point address
(positioning address)
Forward direction
Error code
Outside radius range (Error code: 1A32H) occurs at the start of the
positioning.
Sub point setting error (Error code: 1A37H) occurs at the start of the
positioning.
End point setting error (Error code: 1A2BH)
Sub point setting error (Error code: 1A27H)
Sub point setting error (Error code: 1A28H)
Sub point setting error (Error code: 1A29H)
3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
3
99