Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
When 0: Composite speed is set in [Pr.20] Interpolation speed specification method, the command speed of
ABS3/INC3 is the composite speed of the three axes (x axis

y axis

z axis). The command speed of the 3-
axis helical interpolation control is the composite speed of the circular interpolation axis (x axis

y axis). When
the continuous path control is performed using ABS3/INC3 and the 3-axis helical interpolation control, the
movement speed of the workpiece may change at the positioning data switching; therefore, adjust the
command speed not to shake the workpiece.
Rotation angle of circular interpolation axis (x axis

y axis)
The rotation angle of the circular interpolation axis in the 3-axis helical interpolation control is as follows.
When the unit is set to Degree, the positioning range of the absolute system is 0 to 359.99999

. If the rotation
angle is 360

or larger in the circular interpolation control (x axis  y axis), the tangent control and normal line
control cannot be performed because 360

or larger angle cannot be set for the linear control (z axis: degree).
To perform the tangent control or normal line control with the rotation of 360

or larger angle, use the 3-axis
helical interpolation control (INC).
Rotation direction when the line axis (Z axis) is set in degrees
When Degree is set to [Pr.1] Unit setting for the line 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.
Number of pitch Control of the circular interpolation axis
0

1 360

+

2 720

+

to to
n 360
 
n +

to to
999 360
 
999 +

Y axis
θ
X axis
End point
Start point