Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 217

Rotating direction of a normal line control axis at block joints
The rotating direction of normal line control axes at block joints differs according to normal line control type  and normal line
control type . There are also limitations on the rotating angle depending on the angle ε set in [Motion Control
Parameter][G-code Control Parameter][G-code Control System Parameter]"Normal Line Control""Minimum Rotating
Angle"
Item Normal line control type I
Normal line control axis Direction which is 180 or less (shortcut)
rotating direction for block
joint
Normal line control axis When "|| < ε", there is no rotation.
: Rotating angle
rotating angle for block joint
ε: Minimum rotating angle
When rotating angle=180, the rotating direction is not fixed,
regardless of the command mode.
<When the G41.1/G42.1 normal line control axis is at 0>
180°
90°
ε
0°
-ε
270°
: Normal line control axis rotation (CCW)
: Normal line control axis rotation (CW)
: No rotation
Normal line control type II
• G41.1: - direction(CW)
• G42.1: + direction(CCW)
When "|| < ε", there is no rotation.
: Rotating angle
ε: Minimum rotating angle
In the following cases, a minor error (error code: 1FC1H
(details code: 0103H)) occurs.
• G41.1
ε   < 180 - ε
• G42.1
180 + ε <   360 - ε
<When G41.1 normal line control axis is at 0>
90°
180° -ε
180°
270°
: Normal line control axis rotation (CW)
: No rotation
: Minor error (error code: 1FC1H
(details code: 0103H))
<When G42.1 normal line control axis is at 0>
90°
180°
180° +ε
270°
: Normal line control axis rotation (CCW)
: No rotation
: Minor error (error code: 1FC1H
(details code: 0103H))
6 AUXILIARY AND APPLIED FUNCTIONS
6.6 Normal Line Control Function
6
ε
0°
-ε
ε
0°
-ε
215