Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 178

Controlling a rotating axis
When controlling a rotating axis, the specified feed speed acts as the rotation speed (angular speed) of the rotating axis.
Thus, the cutting speed (vector speed) for the tool advance direction changes according to the distance between the center of
rotation and the tool. The speed specified in the program must take this distance into account.
Ex.
Specifying the feed speed as "f", and controlling rotation axes (C-axis) (unit of f: [degree/min])
c
Center of rotation
In this case, the formula to make "fc" as the cutting speed (vector speed) of the tool advance direction is:
π × r
fc = f ×
180
Thus, feed speed specified in the program is as follows.
180
f = fc ×
π × r
6 AUXILIARY AND APPLIED FUNCTIONS
176
6.3 Feed Function
End point
fc
*1
f
Start point
r
*1: Angular speed is "f".