Mitsubishi Electric MELSEC iQ-R Series User Manual page 99

Rotation direction when the linear interpolation axis (Z axis) is set in degrees
When "degree" is set to "[Pr.1] Unit setting" for the linear interpolation axis, the rotation direction is determined depending on
the axis control data in "[Cd.40] ABS direction in degrees" of the reference axis. To set a rotation direction for each positioning
data, set "[Da.28] ABS direction in degrees" of each positioning data.
3-axis helical interpolation control with center point designation (ABS helical right,
ABS helical left)
■Operation chart
In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from
the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear
interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount". As the positioning to the
commanded position, the linear interpolation with the other linear interpolation axes is performed and the positioning target is
rotated helically for the number of pitches set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches" of the linear interpolation axis while the circular interpolation of the circle whose center is the center point
address (arc address) set in "[Da.7] Arc address" is performed.
Operation chart
Z axis
Y axis
X axis
If the end point address (positioning address) of the circular interpolation axis is set to be the same as the start point address,
the positioning of a true circle whose radius is from the start point address to the center point of the arc can be performed.
Operation chart
Z axis
Y axis
X axis
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2-axis circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitches
Linear movement amount
2-axis circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
2-axis circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitches
Linear movement amount
2-axis circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
search engine
Top view of the circular interpolation
2-axis circular interpolation control
end point (X1, Y1)
Center point
Radius
2-axis circular interpolation control
start point (X0, Y0)
Top view of the circular interpolation
Center point
Radius
2-axis circular interpolation control start point (X0, Y0)
2-axis circular interpolation control end point (X1, Y1)
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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