Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
INC helical right, INC helical left
■
Operation chart
In this control, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the
movement amount 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 0 is set for the movement amount of the circular interpolation axis, the positioning of a true circle whose radius is from the
start point address to the center point address 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.
When the end point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
End point setting error (Error code: 1A2CH) 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)
Movement amount
to the end point
Movement
amount to
the center
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)