Mitsubishi Electric MELSEC Q Series Programming Manual page 230

6 POSITIONING CONTROL
[Program]
(4) The maximum arc radius is 2
If the end point and auxiliary point are set more than a radius of 2
occurs at the start and minor error (error code: 107) is stored in the data register.
Program for auxiliary point-specified circular interpolation control is shown as the
following conditions.
(1) System configuration
Auxiliary point-specified circular interpolation control of Axis 1 and Axis 2.
Q61P Q03UD Q172D
CPU CPU
AMP
Axis
1
M
(2) Positioning details
The positioning uses the Axis 1 and Axis 2 servo motors.
The positioning by the Axis 1 and Axis 2 servo motors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
50000
30000
20000
Start point
(10000,
20000)
0 10000
-1.
31
2 -1
31
Arc central point
0
-2
31
Radius R
Fig.6.12 Maximum arc
Motion CPU control module
QX41 QY41P Q172D
LX
Positioning start command (PX000)
AMP AMP AMP
Axis Axis Axis
2 3 4
M M
Auxiliary point (40000, 50000)
Positioning using the servo program No.31
End point (80000, 30000)
Arc central
point
40000 80000
6 - 43
Maximum arc
2 -1
31
M
Axis 1 positioning direction
(Forward direction)
-1, an error
31