Mitsubishi Electric MELSEC iQ-R Series User Manual page 239

Motion module
Hide thumbs Also See for MELSEC iQ-R Series:
Table of Contents

Advertisement

• Circular interpolation control with radius designation
When selecting "2: mcRadius" in the CircMode input, two configuration axes specified in CircAxes are used to carry out
positioning control in an arc path having the specified radius.
[Circular interpolation path]
The path in the absolute value circular interpolation control with radius designation can be set by the PathChoice input of the
MCFB. The following table shows the setting value, setting description, arc center angle that can be controlled, and path of
PathChoice. When setting "4: mcCWLongWay" and "5: mcCCWLongWay" , and when the start point, end point, and center
point are on one straight line, a semicircle is drawn. When setting "0: mcCW" and "1: mcCCW", an error will occur and a
semicircle can not be drawn.
Setting value
Setting description
0: mcCW
CW
1: mcCCW
CCW
4: mcCWLongWay
CW Long way
5: mcCCWLongWay
CCW Long way
• Absolute value circular interpolation control operation with radius designation
In absolute value circular interpolation control operation with radius designation, positioning is carried out from the current
position at start (start point address) to the address set to EndPoint (end address) in an arc path having the radius set in
AuxPoint.
The resulting control path is an arc with the intersection of the perpendicular bisector of the current position at start and the
end point address, and the specified radius as the center point. (The end point, positioning speed, and radius R shown in the
following figure indicate the data to be set.)
Positive direction
Positioning speed
Start
Negative
direction
Home position
Negative direction
Path by circular interpolation
Radius R
Arc center point
Positive direction
Arc center angle that
Path
can be controlled
0 <  < 180
Short way
0 <  < 180
Short way
180   < 360
Long way
180   < 360
Long way
End point
6.4 Multiple Axes Positioning Control
Positioning path
Start
End point
point
θ < 180°
Radius
Center point
Center point
Radius
Start
θ < 180°
End point
point
Positioning path
Positioning path
180°≤ θ < 360°
Center point
Radius
Start
End point
point
Start
End point
point
Radius
Center point
180° ≤ θ < 360°
Positioning path
6 AXIS CONTROL FUNCTION
6
237

Hide quick links:

Advertisement

Table of Contents
loading

This manual is also suitable for:

Rd78g32Rd78g64Rd78ghvRd78g4Rd78ghwRd78g8 ... Show all

Table of Contents