Allowable Error Range For Circular Interpolation; Bias Speed At Start - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Allowable error range for circular interpolation

The locus of the arc calculated from the start point address and central point address may not coincide with the set end point
address for the central-specified control.
The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc
determined by calculation and the end point address.
If the error is within the allowable range, circular interpolation to the set end point address is executed while also executing
error compensation by means of spiral interpolation.
If it exceeds the setting range, an error occurs at the start and positioning does not start.
Such an error are set the applicable axis or error code area.
Locus determined by spiral
interpolation
Start point address Central point address

Bias speed at start

Set the bias speed (minimum speed) upon starting.
When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor
does not start smoothly.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• Home position return operation
• JOG operation
Trapezoidal acceleration/deceleration (S-curve ratio is 0%)
V
Speed limit value
Command speed
Bias speed at start
Actual
acceleration time
Acceleration time
S-curve acceleration/deceleration (S-curve ratio is other than 0%)
V
Speed limit value
Command speed
Bias speed at start
Actual
acceleration time
Acceleration time
For the 2-axes or more interpolation control, the bias speed at start is applied to the composite command
speed.
3 PARAMETERS FOR POSITIONING CONTROL
234
3.13 Parameter Block
Error
End point address
by calculation
Setting end point
address
Actual
deceleration time
Deceleration time
Actual
deceleration time
Deceleration time
t
t