Helical Circular Interpolation - Omron CS1W-MC221 - 02-2008 Operation Manual

Helical Circular Interpolation

6-5 Helical Circular Interpolation
Overview
Basic Concept
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of the locus of actual movements is smaller than the radius of the arc due to
accumulated pulses.
Arc
The interpolation acceleration time, the interpolation deceleration time, and
triangular control are the same as for linear interpolation.
Refer to 6-3 Linear Interpolation for details on interpolation acceleration time,
interpolation deceleration time, and triangular control.
Note If positioning for circular interpolation is performed at high speed, the radius of
the locus of actual movements will be reduced. This can also be improved by
setting feed forward gain in the servo system. For details, refer to 6-9 Chang-
ing Parameters.
Mode: Automatic; Method: G language (G02, G03)
Helical circular interpolation adds another axis to circular interpolation. It can-
not be used with CS1W-MC221 MC Units. For details on using helical circular
interpolation with the G language, refer to 7-3-3 G02 and G03: CIRCULAR
INTERPOLATION.
With earlier MC Unit models, helical circular interpolation was limited to a sin-
gle turn, but the CS1W-MC421's multiturn capability makes helical operations
easier.
Similar to circular interpolation, helical circular interpolation performs control
operations by dividing a 3-dimensional circular arc in the shape of a polygon.
Locus of actual movements
Center of a circle
Starting point
Intended locus of arc
The higher the speed of positioning
for circular interpolation is, the
smaller the radius of the locus of
actual movements will be.
Section 6-5
End point