Circular Interpolation - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Circular interpolation

• Circular interpolation operation controls with 3D circular interpolation by auxiliary point specification, and 3D circular
interpolation by central point specification.
• Positioning points and auxiliary point/central point of point block data are specified by position type(POSE) of the world
coordinate system or base coordinate system. Joint type(JOINT) cannot be specified.
• For auxiliary point/central point of point block data, only the coordinate values (X, Y, Z) are valid. Other coordinate values
are ignored.
• The maximum arc radius is 2
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2 -1 is set, a minor error (error code: 1FE0H) occurs, and circular interpolation is not started. When a minor error (error
code: 1FE0H) occurs at a point midway through a machine program operation that is already running, the system comes to
a deceleration stop.
2 31 -1
-2 31
Radius R
Arc central point
Circular interpolation (auxiliary point-specified)
3D circular interpolation control by specification of the end point and auxiliary point for circular interpolation is executed.
Auxiliary point-specified 3D circular interpolation control uses ABS (absolute data method) and INC (incremental data
method).
• An arc is drawn on the plane that the start point, auxiliary point, and end point passes.
• The movement direction is start pointauxiliary pointend point.
• When the start point, auxiliary point, and end point are on a straight line, a minor error (error code: 1FE0H) occurs.
• When end point=auxiliary point, a minor error (error code: 1FE0H) occurs.
• A true circle cannot be drawn.
■Control using ABS
3D circular interpolation control from the current stop position (point before positioning) based on the home position through
the specified auxiliary point, and to the end point is executed. The center of the arc is the point of intersection of the
perpendicular bisectors of the start point (current stop position) to the auxiliary point, and the auxiliary point to the end point.
Forward direction
Reverse direction
0
Reverse direction
7 POSITIONING CONTROL
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7.2 Continuous Trajectory Control (Machine Program Operation)
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-1. When an end point, and auxiliary point/central point that requires a radius larger than
Maximum arc
2 31 -1
(Absolute method)
Auxiliary point address (P3)
Start point address (P1)
0
Arc central point
Operation by circular interpolation
End point address (P2)
Forward direction
*: Indicates setting data.