Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

Страница: 295 / 482

5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
293
5
• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
• Setting range of travel value to end point address and arc central point is 0 to

(2
31
-1).
• The maximum arc radius is (2
31
-1). If the end point and central point are set more than a radius of (2
31
-1), an error occurs
at the start and minor error (error code: 1A2FH) is stored in the data register.
Program example
The program for performing central point-specified circular interpolation control of Axis 1 and Axis 2 is explained as an
example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■ Positioning operation details
The positioning uses the Axis 1 and Axis 2 servomotors.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below.
■
Positioning conditions
• Positioning conditions are shown below.
• Positioning start command: X0 Leading edge (OFF

ON)
Item Servo Program No.
No.51
Positioning method Absolute data method
Positioning speed 1000
Forward direction
Circular interpolation control
Arc central point
Start address, end address
Forward direction
Reverse
direction
Reverse direction
Maximum arc
2
31
-1 -2
31
2
31
-1
0
Radius R
Arc central point
Axis 2 positioning direction
(Forward direction)
Start address
(11459, 30000)
Positioning using the servo program No.51
30000
20000
0 11459 45000 78541
End address
(78541, 30000)
Central point address
(45000, 20000)
Axis 1 positioning direction
(Forward direction)