Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
101
3
2-axis circular interpolation control with sub point specified (INC circular sub)
■
Operation chart
In the incremental system and 2-axis circular interpolation control with sub point specified, the positioning is performed from
the current stop position (start point address) to the position of the movement amount set in [Da.6] Positioning address/
movement amount in an arc path passing through the sub point address (sub point address) set in [Da.7] Arc address. The
movement direction is determined by the sign of the movement amount.
The resulting control path is an arc whose center is the intersection point of the perpendicular bisectors of a straight line
between the start point address (current stop position) and the sub point address (arc address) calculated from the movement
amount to the sub point, and a straight line between the sub point address (arc address) and the end point address
(positioning address) calculated from the movement amount to the end point.
■
Restrictions
In the following cases, the 2-axis circular interpolation control cannot be set.
• When Degree is set in [Pr.1] Unit setting
• When the units set in [Pr.1] Unit setting are different between the reference axis and 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.
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 sub point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
Sub point setting error (Error code: 1A2AH) 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.
When the center point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
Sub point setting error (Error code: 1A37H) occurs at the start of the
positioning.
Start point address = End point address End point setting error (Error code: 1A2BH)
Start point address = Sub point address Sub point setting error (Error code: 1A27H)
End point address = Sub point address Sub point setting error (Error code: 1A28H)
When the start point address, sub point address, and end point address are
on a straight line Sub point setting error (Error code: 1A29H)
Reverse direction
Reverse direction
Forward direction
Movement by circular interpolation
Forward direction
Movement amount to the end point
Movement
amount to the
sub point
Movement amount
to the sub point
Movement amount
to the end point
Arc center
Sub point address
(arc address)
Start point
address