Mitsubishi Electric MELSEC iQ-R Series User Manual page 87

■Restrictions
2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in "[Pr.1] Unit setting"
• When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis ("mm" and "inch"
combinations are possible)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
Error cause
When the radius exceeds 536870912 (= 2
the 2-axis circular interpolation control is possible is 536870912 (= 2
When the start point address is the same as the center point address
When the end point address is the same as the center point address
When the center point address is out of the range of -2147483648 (-2
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2147483647 (2 -1)
■Setting positioning data
When using 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left), set the
following positioning data.
: Always set, : Set as required, : Setting restricted, : Setting not required
Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
[Da.6] Positioning address/movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time/JUMP destination positioning data No.
[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches
[Da.20] Axis to be interpolated No.1
[Da.21] Axis to be interpolated No.2
[Da.22] Axis to be interpolated No.3
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed designation method
Refer to the following for information on the setting details.
Page 452 Positioning data
Set a value in "[Da.8] Command speed" so that the speed of each axis does not exceed the value in "[Pr.8]
Speed limit value". (The speed limit does not function for the speed calculated by the Motion module.)
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) (The maximum radius for which
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Error code
The error "Outside radius range" (error code: 1B32H) occurs at the start of the
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).) positioning.
The error "Center point setting error" (error code: 1B2DH)
The error "Center point setting error" (error code: 1B2EH)
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) to The error "Center point setting error" (error code: 1B2FH)
Setting required/not
required for the
reference axis


(Set ABS circular right or
ABS circular left.)













Setting required/not
required for the
interpolation axis















3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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