Mitsubishi Electric RD77MS2 - Page 106

104
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
ABS helical right, ABS helical left
■Operation chart
In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from
the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear
interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount". As the positioning to the
commanded position, the linear interpolation with the other linear interpolation axes is performed and the positioning target is
rotated helically for the number of pitches set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches" of the linear interpolation axis while the circular interpolation of the circle whose center is the center point
address (arc address) set in "[Da.7] Arc address" is performed.
If the end point address (positioning address) of the circular interpolation axis is set to be the same as the start point address,
the positioning of a true circle whose radius is from the start point address to the center point of the arc can be performed.
■Restrictions
In the following cases, the 3-axis helical interpolation control cannot be set.
• When "degree" is set in "[Pr.1] Unit setting" of the reference axis and circular interpolation axis
• When the units set in "[Pr.1] Unit setting" are different between the reference axis and circular interpolation axis (The
combination of "mm" and "inch" is possible.)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
• When the value out of the range of "0 to 999" is set in the number of pitches ("[Da.10] M code/Condition data No./Number
of LOOP to LEND repetitions/Number of pitches")
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.
Operation chart Top view of the circular interpolation
Operation chart Top view of the circular interpolation
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
).)
The error "Outside radius range" (error code: 1A32H) occurs at the start of the
positioning.
Start point address = Center point address The error "Center point setting error" (error code: 1A2DH)
End point address = Center point address The error "Center point setting error" (error code: 1A2EH)
When the center point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
The error "Center point setting error" (error code: 1A2FH)
Z axis
X axis
Y axis
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Circular interpolation control
end point (X1, Y1)
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Z axis
Y axis
X axis
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Circular interpolation control
end point (X1, Y1)