Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 306

• 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 relative 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. 56) for incremental central point-specified helical interpolation
control is shown below.
Incremental central point-specified
helical interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K56]
INH
Axis 1, 88541 pulse
Axis 2, 30000 pulse
Linear axis 3, 20000 pulse
Speed
Number of pitches 500
Ctr.P. 1, 45000 pulse
Ctr.P. 2, 20000 pulse
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
304
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.
Incremental central point-specified helical interpolation control
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
1000 pulse/s End point relative address of . . . .
the circular interpolation axis
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of the linear axis . . . 20000 [pulse]
Positioning speed . . . . . . . . . . . . . . . . . . . . . . . . . . 1000 [pulse/s]
Number of pitches . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Central point relative 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]