Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 295

• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
Forward direction
Arc central point
Reverse Start address, end address
direction
Reverse direction
• Setting range of travel value to end point address and arc central point is 0 to  (2
• The maximum arc radius is (2
at the start and minor error (error code: 1A2FH) is stored in the data register.
31
2 -1
Maximum arc
Arc central point
0
31 31
-2 2 -1
Radius R
Program example
The program for performing central point-specified circular interpolation control of Axis 1 and Axis 2 is explained as an
example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Positioning operation details
The positioning uses the Axis 1 and Axis 2 servomotors.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Start address
(11459, 30000)
30000
20000
0 11459 45000
■Positioning conditions
• Positioning conditions are shown below.
Item Servo Program No.
No.51
Positioning method Absolute data method
Positioning speed 1000
• Positioning start command: X0 Leading edge (OFF  ON)
Circular interpolation control
Forward direction
31
-1). If the end point and central point are set more than a radius of (2
Positioning using the servo program No.51
End address
(78541, 30000)
Central point address
(45000, 20000)
78541
31
-1).
Axis 1 positioning direction
(Forward direction)
5.8 Central Point-Specified Circular Interpolation Control
31
-1), an error occurs
5 POSITIONING CONTROL
5
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