Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
ABS helical right, ABS helical left
■
Operation chart
In this control, 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 line 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 line axes is performed and the positioning
target is rotated helically for the number of pitches set in [Da.10] M code of the line 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.
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.
■
Restrictions
In the following cases, the 3-axis helical interpolation control cannot be set.
• When Degree is set in [Pr.1] Unit setting of the reference axis and circular interpolation axis
• When the units set in [Pr.1] Unit setting are different between the reference axis and circular interpolation axis (The
combination of mm and inch is possible.)
• When Reference axis speed is set in [Pr.20] Interpolation speed specification method
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
Operation chart Top view of the circular interpolation
Operation chart Top view of the circular interpolation
Error cause Error code
When the radius exceeds 536870912 (= 2
29
) (The maximum radius for which
the circular interpolation control is possible is 536870912 (= 2
29
).)
Outside radius range (Error code: 1A32H) occurs at the start of the
positioning.
Start point address = Center point address Center point setting error (Error code: 1A2DH)
End point address = Center point address Center point setting error (Error code: 1A2EH)
When the center point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
Center point setting error (Error code: 1A2FH)
Z axis
X axis
Y axis
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Circular interpolation control
end point (X1, Y1)
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Z axis
Y axis
X axis
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Circular interpolation control
end point (X1, Y1)