Mitsubishi Electric MELSEC iQ-R Series User Manual page 210

Name Variable
name
Sub point AuxPoint
End point EndPoint
Path selection PathChoice
Velocity Velocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Circular CircularErrorTol
interpolation erance
error tolerance
Buffer mode BufferMode
Options Options
*1 For a bit and the function description, refer to the following table.
Bit
0 to 2
3
4 to 31
6 AXIS CONTROL FUNCTION
208
6.4 Multiple Axes Positioning Control
Data type Import

LREAL[1..16]

LREAL[1..16]

MC_CIRC_PAT
HCHOICE
/R/C
LREAL
/R/C
LREAL
/R/C
LREAL

LREAL

LREAL

MC_BUFFER_
MODE

DWORD(HEX)
Function description
Acceleration/deceleration method setting
0: mcAccDec (Acceleration/deceleration specification method)
1: mcFixedTime (Acceleration/deceleration time-fixed method)
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
Position selection during buffer mode
FALSE: Set position
TRUE: Actual position
Empty (Set "0".)
Setting range Default
value
For "0: mcBorder", 0.0
"1:mcCenter":
Page 67
Positioning Range
For "2: mcRadius":
0.000001 to
2147483647.0
Page 67 0.0
Positioning Range
0 to 5 0
Page 71 Velocity
0.0
set range
Page 295 0.0
Relevant variables
Page 295 0.0
Relevant variables
Page 295
0.0
Relevant variables
0.000001 to 100000 100.0
0 to 5 0
*1
00000000H
Description
Sets the relative position according to unit of axis
from the current position at start to the sub point.
It is N-dimentional array data. It is treated as the
relative position of the configuration axis 1, 2, ...,
N.
When specifying "2: mcRadius" in CircMode
input, the first element is used for the radius, and
the second or later elements are ignored.
Set the relative position according to unit of axis
from the current position at start to the end point.
It is N-dimentional array data. It is treated as the
absolute position of the configuration axis 1, 2, ...,
N.
Sets rotation direction of circular interpolation.
0: mcCW (CW)
1: mcCCW (CCW)
2: mcShortWay (Short way)
3: mcLongWay (Long way)
4: mcCWLongWay (CW long way)
5: mcCCWLongWay (CCW long way)
When specifying "0: mcBorder" in CircMode input,
the input is ignored.
When specifying "2: mcRadius" in CircMode, "0:
mcCW" and "1: mcCCW" mean the CW short way
and the CCW short way respectively.
Sets the speed command value according to unit
of axis.
Sets the acceleration according to unit of axis.
Sets the deceleration according to unit of axis.
Sets the jerk according to unit of axis.
Sets the allowable width of circular interpolation
error.
Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
2: mcBlendingLow (BlendingLow)
3: mcBlendingPrevious (BlendingPrevious)
4: mcBlendingNext (BlendingNext)
5: mcBlendingHigh (BlendingHigh)
For details, refer to the following.
Page 107 Multiple Start (Buffer Mode)
Sets a function option with bit specification.