Mitsubishi Electric RD77MS16, User Manual

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92
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
■ 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 start will not be possible in the following cases. The machine will immediately stop if the
error is detected during positioning control.
• When the radius exceeds "536870912 (= 2
29
)" (the maximum radius for which circular interpolation control is possible is
"536870912 (= 2
29
)"): The error "Outside radius range" (error code: 1A32H) will occur at positioning start.
• When the start point address is the same as the center point address: The error "Center point setting error" (error code:
1A2DH to 1A2FH) will occur.
• When the end point address is the same as the center point address: The error "Center point setting error" (error code:
1A2DH to 1A2FH) will occur.
• When the center point address is outside the range of -2147483648 (-2
31
) to 2147483647 (2
31
- 1): The error "Center point
setting error" (error code: 1A2DH to 1A2FH) will occur.
■ 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
*1 Refer to the following for information on the setting details.

Page 445 Positioning Data
Set a value in "[Da.8] Command speed" so that the speed of each axis does not exceed the "[Pr.8] Speed limit
value". (The speed limit does not function for the speed calculated by the Simple Motion module during
interpolation control.)
Setting item Setting required/not required
for the reference axis Setting required/not required
for the interpolation axis
[Da.1] Operation pattern
 
[Da.2] Control method

(Set ABS circular right or ABS
circular left.)

[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
 