Mitsubishi Electric MELSEC iQ-R Series User Manual page 238

• Relative value circular interpolation control operation with center point designation
In relative value circular interpolation control operation with center point designation, positioning is carried out from the current
position at start (start point address) to the address of the movement amount set to EndPoint (end point address) in an arc
path having the address of the movement amount set in AuxPoint (center point address) as its center. (The end point, the
positioning speed, and the center point of the arc shown in the following figure indicate the data to be set.)
Positive direction
Start
point
Negative
direction
Home position
Negative direction
Positioning of a perfect circle with a radius from the start point address to the arc center point can be carried out by setting the
EndPoint to the same address as the start point.
The end point and the start point have the same address by setting "0" as the movement amount to the end point which is set
to EndPoint.
Positive direction
Arc center point
Start point, end point
Negative
direction
Home position
Negative direction
2-axis circular interpolation control cannot be set in the following cases.
• When the radius exceeds 2147483647.0 (the maximum radius for which 2-axis circular interpolation control
is possible is 2147483647.0): The error "Out of Radius Range" (error code: 1A6CH) will occur at positioning
start.
• When the center point address exceeds positioning range: The error "Out of Center Point Address Range"
(error code: 1A6BH) will occur.
• When the start point address is the same as the center point address: The error "Start Point - Center Point
Address Same Value" (error code: 1A65H) will occur.
• When the end point address is the same as the center point address: The error "End Point - Center Point
Address Same Value" (error code: 1A67H) will occur.
6 AXIS CONTROL FUNCTION
236
6.4 Multiple Axes Positioning Control
Movement by circular interpolation
Positioning speed
Arc center point
Circular interpolation control
End point
Positive direction
Positive direction