3-Axis Helical Interpolation Control With Sub Point Designation - Mitsubishi Electric MELSEC iQ-R Series User Manual

3-axis helical interpolation control with sub point designation

In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical sub, INC helical sub), three motors are used to
carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control" or "tangent control and
normal line control".
X axis: Reference axis, Y axis: Circular interpolation axis, Z axis: Linear interpolation axis
Control Control overview
details
Helical
control
(mm/inch/pulse)
Z axis
Tangent
Y axis
control/
Normal line
control
Speed of the 3-axis helical interpolation control
The 2-axis circular interpolation control (Reference axisComposite speed of the circular interpolation axis) is the target of
the command speed of the 3-axis helical interpolation control.
Z axis
Y axis
X axis
3 MAJOR POSITIONING CONTROL
88
3.2 Setting the Positioning Data
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Z axis
Y axis
X axis
End point
Start point
X axis
End point
A linear interpolation axis tracks
the movement of 2-axis circular
interpolation control.
The command speed of this control is
the same as the speed of 2-axis
circular interpolation control.
Start point
search engine
Positioning path
Draws a helical path by following the linear interpolation axis
End point
(linear control) to the 2-axis circular interpolation control.
Unit setting
• Reference axis: mm/inch, pulse
• Circular interpolation axis: The same as the reference axis
• Linear interpolation axis: mm/inch, pulse
Start point
Keeps the direction of the workpiece against the center point of
the 2-axis circular interpolation control by following the value of
the linear interpolation axis (degree) to the 2-axis circular
interpolation control. The figure shown on the left is an example
Z axis
(degree) in which the direction of the workpiece is kept to the direction of
the tangent or normal line.
Unit setting
• Reference axis: mm/inch, pulse
• Circular interpolation axis: The same as the reference axis
• Linear interpolation axis: degree