Mitsubishi Electric MELSEC iQ-R Series User Manual page 206

MCv_MoveCircularInterpolateAbsolute
Item
Function overview
Symbol
[Structured Ladder]
Applicable hardware and
software (Language)
Number of input area points
(byte)
328
■I/O variable
Input import : At start
Name Variable
name
Axes AxesGroup
groupinformatio
n
■Input variables
Import : At start, R: Retrigger possible, C: Continuous update possible
Name Variable
name
Start Execute
Continuous ContinuousUpd
update ate
Circular CircAxes
interpolation
axis
Circular CircMode
interpolation
mode
6 AXIS CONTROL FUNCTION
204
6.4 Multiple Axes Positioning Control
Description
Executes positioning by 2-axis circular interpolation by using arbitary configuration axes of set axes group, and by using the
specified end point and the sub point of the absolute position.
MCv_MoveCircularInterpolateAbsolute
DUT : AxesGroup
B : Execute
B : ContinuousUpdate
W[ ] : CircAxes
ENUM : CircMode
L[ ] : AuxPoint
L[ ] : EndPoint
ENUM : PathChoice
L : Velocity
L : Acceleration
L : Deceleration
L : Jerk
L : CircularErrorTolerance
ENUM : BufferMode
UD : Options
RD78G(H) (Structured Text)
Number of output area points
(byte)
8
Data type Input
import
AXES_GROUP ↑
_REF
Data type Import

BOOL

BOOL

INT[1..2]

MC_CIRC_MO
DE
AxesGroup : DUT
CommandAborted : B
ErrorID : UW
Compiling method
Subroutine type
Setting range Default
value

Omission
not possible
Setting range Default
value

FALSE

FALSE
1 to 16 0
0 to 2 0
Done : B
Busy : B
Active : B
Error : B
FB operation type
Real-time execution
Description
Page 574 Axes group variables
Description
When TRUE, it executes the FB.
During TRUE, it reflects intput of the import "C".
Specifies axes to be used in circular interpolation
control from the configuration axes.
Specifies the index No. (1 to 16) of the
configuration axes in array.
The first element of the array is regarded as the
reference axis.
Sets circular interpolation mode.
0: mcBorder (Border point designation)
AuxPoint input defines a point on the arc
connecting the start point and the end point.
1: mcCenter (Center point designation)
AuxPoint input defines the center point of the
circle.
2: mcRadius (Radius designation)
AuxPoint input defines the radius of the circle.