Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 302

• The maximum arc radius on the circular interpolation plane is 2
gear 1:1 of unit [mm] is 214748364.7 [m].
31
2 -1
Arc central point
0
31
-2
Radius R
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end point relative address, command speed, radius (2 word data above) and
number of pitches (1 word data) are set indirectly by the word devices.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Motion SFC program
The Motion SFC program for executing the servo program (No. 53) for incremental radius-specified helical interpolation
control is shown below.
Incremental radius-specified
helical interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K53]
INH
Axis 1,
Axis 2,
Linear axis 3,
Speed
Number of pitches 100
Radius
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
300
5.9 Helical Interpolation Control
Maximum arc
31
2 -1
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Incremental radius specified-circular helical interpolation
100000 pulse Axis for the circular . . . . . . . . . . . . Axis 1, Axis 2
50000 pulse interpolation
25000 pulse End point relative address of . . .
1000 pulse/s the circular interpolation axis
Linear axis for the circular . . . . . . . Axis 3
interpolation and linear interpolation
60000 pulse
End point relative address of the linear axis . . . 25000 [pulse]
Positioning speed . . . . . . . . . . . . . . . . . . . . . . . . 1000 [pulse/s]
Number of pitches . . . . . . . . . . . . . . . . . . . . . . . . 100
Radius on a circular interpolation plane . . . . . . . 60000 [pulse]
Wait until X0 turn OFF after circular interpolation completion
31
-1. For example, the maximum arc radius for electronic
Axis 1 . . . . 100000 [pulse]
Axis 2 . . . . 50000 [pulse]