Mitsubishi Electric MELSEC iQ-R Series User Manual page 67

■Circular interpolation control
(MCv_MoveCircularInterpolateAbsolute,MCv_MoveCircularInterpolateRelative)
• Calculates circular path from the value of current position, AuxPoint input, and EndPoint input. The position command unit
of the axes group and the the configuration axes are not affected.
• The unit of the axes group is used for the velocity command unit in controlling.
Refer to the following for details.
Page 230 Circular interpolation control
• When the combination of the position command unit between the axes group and the interpolation axis is different, the
warning "Command Unit Mismatch Warning" (warning code: 0D08H) will occur at start and multipul start.
• When the combination is different between the speed command unit and on-going FB at multipul start, the warning "Speed
Command Unit Mismatch Warning" (warning code: 0D1EH) will occur at multipul start.
Ex.
Operation when axes group unit and interpolation axis unit are mismatched
The following shows the operation example when the position/velocity command units of the configuration axis 1 and 2, and
axes group in linear interpolation control are different.
• Axis setting
Setting item
Position/Velocity command unit of
the axes group
Position/Velocity command unit of
the configuration axis 1
Position/Velocity command unit of
the configuration axis 2
• FB input (MCv_MoveLinearInterpolateAbsolute, MCv_MoveLinearInterpolateRelative)
Setting item
LinearAxes
Position
Velocity
VelocityMode
• Operation
Regards current position[0].
The position/velocity command unit of the axes group is used as the unit of Velocity.
Combined movement amount = (100
Each axis movement amount of every operation cycle is calculated from the combined movement amount 141 mm and the
vector speed 1000 mm/ms.
The calculated each axis movement amount is commanded as the movement amount in the position command unit of each
axis.
Setting details
mm/ms
mm/s
degree/min
Setting value
[1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0] or [1 2]
[100 100 0 0 0 0 0 0 0 0 0 0 0 0 0] or [100 100]
1000
0: VectorSpeed (Vector speed)
2 2
+ 100 ) = 141 mm is calculated from the movement amount [100 100].
Setting value
AxesGroupName.Pr.Unit_Position: HFD010000
AxesGroupName.Pr.Unit_Velocity: HFD000300
AxisName.Pr.Unit_Position: HFD010000
AxisName.Pr.Unit_Velocity: H00000300
AxisName.Pr.Unit_Position: HFD010000
AxisName.Pr.Unit_Velocity: H00000300
2 AXIS MANAGEMENT FUNCTIONS
65
2.1 Technical Units
2