Mitsubishi Electric MELSEC iQ-R Series User Manual page 240

• Relative value circular interpolation control operation with radius designation
In relative value circular interpolation control operation with radius designation, positioning is carried out from the current
position at start (start point address) to the address of the movement amount set to EndPoint (end point 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
point
Negative
direction
Home position
Negative direction
2-axis circular interpolation control cannot be set in the following cases.
• When the radius exceeds 2147483647.0 (the maximum radius for which 2-axis circular interpolation control
is possible is "XXXX"): The error "Out of Radius Range" (error code: 1A6CH) will occur at positioning start.
• When the end point address exceeds positioning range: The error "Out of End Point Address Range" (error
code: 1A6DH) will occur.
• When the start point address is the same as the end point address: The error "Start Point - End Point
Address Same Value" (error code: 1A66H) will occur.
• When the distance between the start point address and the end point address is larger than the radius:
Since an arc cannot be drawn, the error "Radius Setting Error" (error code: 1A6EH) will occur at positioning
start.
■AuxPoint (Sub point)
Set the sub point position of the absolute position or the movement amount from the current position at start to the sub point
by the AuxPoint input. AuxPoint has 16 array elements. Setting details of AuxPoint differ depending on the circular
interpolation mode as shown below.
Setting value
0: mcBorder
1: mcCenter
2: mcRadius
Ex.
When setting configuration axis 2, 3, 4 to the circular interpolation axes, and the absolute position of the sub point of the
configuration axis 2, 3 is 2000, 3000 respectively.
CircAxes: [2 3]
CircMode: Border point designation
AuxPoint: [0 2000 3000 0 0 0 0 0 0 0 0 0 0 0 0 0]
or
AuxPoint: [0 2000 3000]
6 AXIS CONTROL FUNCTION
238
6.4 Multiple Axes Positioning Control
Path by circular interpolation
Radius R
Arc center point
Positive direction
Circular interpolation mode
name
Border point designation
Center point designation
Radius designation
End point
AuxPoint (sub point) input setting
AuxPoint[0..N] indicates the sub point position of the configuration axis 1 to N.
• AuxPoint inputs for the configuration axes which are not set to the circular interpolation axis are igno
• AuxPoint inputs after all of the configuration axes which are set to the circular interpolation axis can
AuxPoint[0] indicates the radius of the arc.
• Inputs after AuxPoint[1] are ignored, and these can be omitted.