Mitsubishi Electric MELSEC iQ-R Series User Manual page 207

Name Variable
name
Sub point AuxPoint
End point EndPoint
Path selection PathChoice
Velocity Velocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Circular CircularErrorTol
interpolation erance
error tolerance
Buffer mode BufferMode
Options Options
*1 For a bit and the function description, refer to the following table.
Bit Function description
0 to 2 Acceleration/deceleration method setting
0: mcAccDec Acceleration/deceleration specification method
1: mcFixedTime Acceleration/deceleration time-fixed method
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
3 to 31 Empty (Set "0".)
Data type Import Setting range

LREAL[1..16] For "0: mcBorder",
"1:mcCenter":
Page 67
Positioning Range
For "2: mcRadius":
0.000001 to
2147483647.0
 Page 67
LREAL[1..16]
Positioning Range

MC_CIRC_PAT 0 to 5
HCHOICE
/R/C
Page 71 Velocity
LREAL
set range
/R/C Page 295
LREAL
Relevant variables
/R/C Page 295
LREAL
Relevant variables
 Page 295
LREAL
Relevant variables

LREAL 0.000001 to 100000

MC_BUFFER_ 0 to 5
MODE
*1
/R
DWORD(HEX)
Default Description
value
0.0 Sets the absolute position of sub point according
to unit of axis.
It is N-dimentional array data. It is treated as the
absolute position of the configuration axis 1, 2, ...,
N.
When specifying "2: mcRadius" in CircMode
input, the first element is used for the radius, and
the second or later elements are ignored.
0.0 Set the absolute position of end point according to
unit of axis. It is N-dimentional array data. It is
treated as the absolute position of the
configuration axis 1, 2, ..., N.
0 Sets rotation direction of circular interpolation.
0: mcCW (CW)
1: mcCCW (CCW)
2: mcShortWay (Short way)
3: mcLongWay (Long way)
4: mcCWLongWay (CW long way)
5: mcCCWLongWay (CCW long way)
When specifying "0: mcBorder" in CircMode input,
the input is ignored.
When specifying "2: mcRadius" in CircMode, "0:
mcCW" and "1: mcCCW" mean the CW short way
and the CCW short way respectively.
0.0 Sets the speed command value according to unit
of axis.
0.0 Sets the acceleration according to unit of axis.
0.0 Sets the deceleration according to unit of axis.
0.0 Sets the jerk according to unit of axis.
100.0 Sets the allowable width of circular interpolation
error.
0 Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
2: mcBlendingLow (BlendingLow)
3: mcBlendingPrevious (BlendingPrevious)
4: mcBlendingNext (BlendingNext)
5: mcBlendingHigh (BlendingHigh)
For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)
00000000H Sets a function option with bit specification.
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
205