Circular Interpolation Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Circular interpolation control

Circular interpolation control specifies an axes group and performs interpolation control so that the path from the stat point
(move start point) to the end point becomes an arc to a linear axis which is arranged mechanically orthogonally.
In circular interpolation control, interpolation control using arbitrary two axes from the configuration axes set to the axes group.
Three types of the circular interpolation methods, the border point designation, the center point designation, and the radius
designation, can be specified for circular interpolation control.
Circular interpolation control has the following two control methods.
Circular interpolation control
Absolute value circular interpolation control
Relative value circular interpolation control
The absolute value circular interpolation control is executed with MCv_MoveCircularInterpolateAbsolute.
The relative value circular interpolation control is executed with MCv_MoveCircularInterpolateRelative.
Timing chart
■When the FB is normally completed
Velocity
AxesGroupName.Md.
SetVelocity
Execute
Done
Busy
Active
Error
ErrorID
AxesGroupName.Md.
GroupStatus
■When an error occurs
Execute
Done
Busy
Active
Error
ErrorID
6 AXIS CONTROL FUNCTION
230
6.4 Multiple Axes Positioning Control
Description
Specifies the end point and the sub point of the absolute position, and executes 2-axis circular interpolation
control.
Specifies the end point and the movement amount of the sub point from the current point, and executes 2-axis
circular interpolation control.
4: GroupStandby 5: GroupMoving
Error code
0
4: GroupStandby