Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 304

• 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 address, command speed, radius (2 word data above) and number
of pitches (1 word data) are set indirectly by the word devices.
• If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular
interpolation, full circle can be drawn.
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. 55) for absolute central point-specified helical interpolation
control is shown below.
Absolute central point-specified
helical interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K55]
ABH
Axis 1,
Axis 2,
Linear axis 3,
Speed
Number of pitches 500
Ctr.P. 1,
Ctr.P. 2,
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
302
5.9 Helical Interpolation Control
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.
Absolute central point-specified circular helical interpolation
88541 pulse Axis for the circular . . . . . . . . . Axis 1, Axis 2
30000 pulse interpolation
20000 pulse End point address of the . . . .
1000 pulse/s circular interpolation axis
Linear axis for the circular . . . . Axis 3
45000 pulse
interpolation and linear interpolation
20000 pulse
End point address of the linear axis . . . . . . 20000 [pulse]
Positioning speed . . . . . . . . . . . . . . . . . . . . . 1000 [pulse/s]
Number of pitches . . . . . . . . . . . . . . . . . . . . 500
Central point address . . . . . . .
of the arc
Wait until X0 turn OFF after circular interpolation completion.
Axis 1 . . . . 88541 [pulse]
Axis 2 . . . . 30000 [pulse]
Axis 1 . . . . . 45000 [pulse]
Axis 2 . . . . . 20000 [pulse]