Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
Allowable error range for circular interpolation
The locus of the arc calculated from the start point address and central point address may not coincide with the set end point
address for the central-specified control.
The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc
determined by calculation and the end point address.
If the error is within the allowable range, circular interpolation to the set end point address is executed while also executing
error compensation by means of spiral interpolation.
If it exceeds the setting range, an error occurs at the start and positioning does not start.
Such an error are set the applicable axis or error code area.
Bias speed at start
Set the bias speed (minimum speed) upon starting.
When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor
does not start smoothly.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• Home position return operation
• JOG operation
For the 2-axes or more interpolation control, the bias speed at start is applied to the composite command
speed.
Locus determined by spiral
interpolation
Error
Start point address Central point address
End point address
by calculation
Setting end point
address
Speed limit value
Command speed
Bias speed at start
V
t
Acceleration time Deceleration time
Actual
acceleration time
Trapezoidal acceleration/deceleration (S-curve ratio is 0%)
Speed limit value
Command speed
Bias speed at start
V
t
Acceleration time Deceleration time
Actual
acceleration time
S-curve acceleration/deceleration (S-curve ratio is other than 0%)
Actual
deceleration time
Actual
deceleration time