3-Axis Helical Interpolation Control With Sub Point Designation - Mitsubishi Electric RD77MS2 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
Z axis
(mm/inch/pulse)
Z axis
Y axis
Tangent
Y axis
control/
Normal line
control
End point
Speed of the helical interpolation control
The 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.
End point
Z axis
Y axis
Start point
X axis
End point
X axis
Start point
Z axis
(degree)
Start point
X axis
A linear interpolation axis tracks
the movement of circular
interpolation control.
The command speed of this control
is same as the speed of circular
interpolation control.
Positioning path
Draws a helical path by following the linear interpolation
axis (linear control) to the 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
Keeps the direction of the workpiece against the center
point of the circular interpolation control by following the
value of the linear interpolation axis (degree) to the
circular interpolation control. The figure shown on the left
is an example 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
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
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