Mitsubishi Electric MELSEC-Q Series - Page 264

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6 POSITIONING CONTROL
(3) The maximum arc radius on the circular interpolation plane is (2
31
-1).
For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is
214748364.7[
µm].
Maximum arc
2
31
-1-2
31
2
31
-1
0
Radius R
Arc central point
(4) Set the command speed with the vector speed for 2 axes circular interpolation
axis.
(5) The command speed unit is specified in the parameter block.
(6) Set the number of pitches within the range of 0 to 999. If it is set outside the
setting range, the servo program setting error (error code: 28) occurs and
operation does not start.
(7) All of the circular interpolation axis, linear axis end point address, command speed,
radius (2 word data above), and number of pitches (1 word data) are set indirectly
by the word devices.
[Program]
(1) Servo program
Servo program No.61 for incremental auxiliary point-specified helical interpolation
control is shown below.
<K 61>
INH
Axis
Axis
Linear axis
Speed
Number of pitches
Auxiliary point
Auxiliary point
1,
2,
3,
1,
2,
88541
30000
20000
1000
500
45000
20000
Axis for the circular . . . . . . . .
interpolation
End point relative address from . . . . . . . . . 20000
the linear axis specification
Positioning speed . . . . 1000
Number of pitches . . . .
Auxiliary point relative . . . . . . . .
address of the arc
Axis 1 . . . . 88541
Axis 2 . . . . 30000
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of
the circular interpolation axis
500
Axis 1, Axis 2
Axis 1 . . . . 45000
Axis 2 . . . . 20000
Incremental auxiliary point-specified circular helical interpolation
(Note): Example of the Motion SFC program for positioning control is shown next page.