Mitsubishi Electric MELSEC Q Series Programming Manual page 258

6 POSITIONING CONTROL
[Program]
(3) The maximum arc radius on the circular interpolation plane is (2
For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is
214748364.7[ µm].
(4) Set the command speed with the vector speed for 2 axes circular interpolation
axis.
(5) The command speed unit is specified in the parameter block.
(6) Set the number of pitches within the range of 0 to 999. If it is set outside the
setting range, the servo program setting error (error code: 28) occurs and
operation does not start.
(7) All of the circular interpolation axis, linear axis end relative address, command
speed, radius (2 word data above) and number of pitches (1 word data) are set
indirectly by the word devices.
(8) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central point-specified circular interpolation, full circle can be drawn.
(1) Servo program
Servo program No.56 for incremental central point-specified helical interpolation
control is shown below.
<K 56>
INH
Axis 1,
Axis 2,
Linear axis 3,
Speed
Number of pitches
Central point 1,
Central point 2,
(Note): Example of the Motion SFC program for positioning control is shown next page.
2 -1
31
Arc central point
0
-2
31
Radius R
Incremental central point specified-circular helical interpolation
88541
Axis for the circular . . . . . . . . .
30000
interpolation
20000
End point relative address of
1000
the circular interpolation axis
500
Linear axis for the circular. . . . . . . . . . . . . . Axis 3
45000
interpolation and linear interpolation
20000
End point relative address from . . . . . . . . . 20000
the linear axis specification
Positioning speed . . . . 1000
Number of pitches . . .
Central point relative address . .
of the arc
6 - 71
-1).
31
Maximum arc
2 -1
31
Axis 1, Axis 2
Axis 1 . . . . 88541
Axis 2 . . . . 30000
500
Axis 1 . . . . 45000
Axis 2 . . . . 20000