Mitsubishi Electric RD77MS2 User Manual page 106

ABS helical right, ABS helical left
■Operation chart
In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from
the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear
interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount". As the positioning to the
commanded position, the linear interpolation with the other linear interpolation axes is performed and the positioning target is
rotated helically for the number of pitches set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches" of the linear interpolation axis while the circular interpolation of the circle whose center is the center point
address (arc address) set in "[Da.7] Arc address" is performed.
Operation chart
Z axis
Y axis
X axis
If the end point address (positioning address) of the circular interpolation axis is set to be the same as the start point address,
the positioning of a true circle whose radius is from the start point address to the center point of the arc can be performed.
Operation chart
Z axis
Y axis
X axis
■Restrictions
In the following cases, the 3-axis helical interpolation control cannot be set.
• When "degree" is set in "[Pr.1] Unit setting" of the reference axis and circular interpolation axis
• When the units set in "[Pr.1] Unit setting" are different between the reference axis and circular interpolation axis (The
combination of "mm" and "inch" is possible.)
• When "reference axis speed" is set in "[Pr.20] Interpolation speed designation method"
• When the value out of the range of "0 to 999" is set in the number of pitches ("[Da.10] M code/Condition data No./Number
of LOOP to LEND repetitions/Number of pitches")
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
Error cause
When the radius exceeds 536870912 (= 2
the circular interpolation control is possible is 536870912 (= 2
Start point address = Center point address
End point address = Center point address
When the center point address is out of the range of -2147483648 (-2
31
2147483647 (2 -1)
3 MAJOR POSITIONING CONTROL
104
3.2 Setting the Positioning Data
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
29
) (The maximum radius for which
29
).)
31
) to
Top view of the circular interpolation
Circular interpolation control
end point (X1, Y1)
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Top view of the circular interpolation
Center point
Radius
Circular interpolation control
start point (X0, Y0)
Circular interpolation control
end point (X1, Y1)
Error code
The error "Outside radius range" (error code: 1A32H) occurs at the start of the
positioning.
The error "Center point setting error" (error code: 1A2DH)
The error "Center point setting error" (error code: 1A2EH)
The error "Center point setting error" (error code: 1A2FH)