Circular Interpolation Specified Method By Helical Interpolation - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Circular interpolation specified method by helical interpolation

The following method of circular interpolation is possible for the helical interpolation.
The specified method of circular interpolation connected start point and end point at the seeing on the plane for which
performs circular interpolation are as follows.
Servo instruction
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
Precautions
• When the travel value of linear axis is "0" is set, it can be controlled.
Condition
Number of pitches is 0
Number of pitches is not 0
• Units for linear axis have not restrictions.
• Circular interpolation axis has the following restrictions.
• When the unit of one axis is [degree] axis (with stroke range), set another axis also as [degree] axis (without stroke range).
• The axis of [degree] unit as without stroke range cannot be set.
• Specified the speed which executes speed change by CHGV instruction during helical interpolation operation with the
vector speed of circular interpolation axis 2. If speed change is requested by specifying negative speed by CHGV
instruction during helical interpolation operation, deceleration starts from the time and it is possible to return to reverse
direction at the deceleration completion.
• If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular
interpolation, full circle can be drawn. When the address of "start point = end point" is set at the radius-specified helical
interpolation or auxiliary point-specified helical interpolation, a minor error (error code: 1A2BH) occurs at the start and
cannot be start.
• When the control unit is [degree] and the stroke limit is invalid, if the helical interpolation control is executed using absolute
data method, positioning in near direction to specified address based on the current value.
• Allowable error range for circular interpolation can be set.
5 POSITIONING CONTROL
296
5.9 Helical Interpolation Control
Positioning method
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Operation
Same control as normal circular interpolation control. (Allowable error range for circular interpolation can be set.)
Linear interpolation to linear axis does not executed, circle for the number of pitches is drawn on the circle plane.
(Allowable error range for circular interpolation can be set.)
Circular interpolation specified method
Radius-specified method less than CW180
Radius-specified method less than CCW180
Radius-specified method CW180 or more.
Radius-specified method CCW180 or more.
Central point-specified method CW
Central point- specified method CCW
Auxiliary point-specified method